refactor(controller): 移除未使用的导入以优化代码结构

- 移除了 EdgeAgvController 中未使用的 ArrayList 和 List 导入
- 移除了 EdgeArmController 中未使用的 Common 导入
- 移除了 EdgeArmOperateService 中未使用的 ArmCommand 导入

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeAgvController.java

@@ -0,0 +1,166 @@
+package com.cmvr.web.controller.api;
+
+import cmvr.api.AgvCommand;
+import com.cmvr.common.core.domain.AjaxResult;
+import com.cmvr.edge.client.model.EdgeCommonVO;
+import com.cmvr.edge.client.model.agv.*;
+import com.cmvr.edge.client.service.EdgeAgvService;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import io.swagger.annotations.ApiParam;
+import lombok.RequiredArgsConstructor;
+import org.springframework.web.bind.annotation.GetMapping;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RestController;
+
+/**
+ * 边缘系统AGV控制器
+ *
+ * @author cmvr-iot
+ * @since 2026-07-01
+ */
+@Api(tags = "边缘--AGV")
+@RestController
+@RequestMapping("/api/agv")
+@RequiredArgsConstructor
+public class EdgeAgvController {
+
+    private final EdgeAgvService edgeAgvService;
+
+    @ApiOperation("获取AGV状态信息")
+    @GetMapping("/getStatusInfo")
+    public AjaxResult getStatusInfo(EdgeCommonVO vo) {
+        AgvCommand.AgvStatusInfo statusInfo = edgeAgvService.getStatusInfo(vo);
+        // 直接返回对象，Jackson会自动序列化
+        return AjaxResult.ok(statusInfo);
+    }
+
+    @ApiOperation("获取机器人位置")
+    @GetMapping("/getRobotLocation")
+    public AjaxResult getRobotLocation(EdgeCommonVO vo) {
+        AgvCommand.AgvRobotLocation location = edgeAgvService.getRobotLocation(vo);
+        return AjaxResult.ok(location);
+    }
+
+    @ApiOperation("获取地图状态")
+    @GetMapping("/getMapStatus")
+    public AjaxResult getMapStatus(EdgeCommonVO vo) {
+        AgvCommand.AgvMapStatus mapStatus = edgeAgvService.getMapStatus(vo);
+        return AjaxResult.ok(mapStatus);
+    }
+
+    @ApiOperation("下载地图")
+    @GetMapping("/downloadMap")
+    public AjaxResult downloadMap(EdgeCommonVO vo, 
+                                   @ApiParam("地图名称") String mapName) {
+        AgvCommand.AgvDownloadMapResult result = edgeAgvService.robotConfigDownloadMap(vo, mapName);
+        return AjaxResult.ok(result);
+    }
+
+    @ApiOperation("上传地图")
+    @PostMapping("/uploadMap")
+    public AjaxResult uploadMap(EdgeCommonVO vo, 
+                                 @ApiParam("地图内容") String mapContent) {
+        AgvCommand.AgvUploadMapResult result = edgeAgvService.robotConfigUploadMap(vo, mapContent);
+        java.util.Map<String, Object> resultMap = new java.util.HashMap<>();
+        resultMap.put("retCode", result.getRetCode());
+        resultMap.put("errMsg", result.getErrMsg());
+        return AjaxResult.ok(resultMap);
+    }
+
+    @ApiOperation("获取电池状态")
+    @GetMapping("/getBatteryStatus")
+    public AjaxResult getBatteryStatus(EdgeCommonVO vo) {
+        AgvCommand.AgvBatteryStatus batteryStatus = edgeAgvService.getBatteryStatus(vo);
+        return AjaxResult.ok(batteryStatus);
+    }
+
+    @ApiOperation("导航到指定站点")
+    @GetMapping("/goToStation")
+    public AjaxResult goToStation(EdgeCommonVO vo,
+                                   @ApiParam("起始站点ID") String sourceId,
+                                   @ApiParam("目标站点ID") String targetId,
+                                   @ApiParam("任务ID") String taskId,
+                                   @ApiParam("操作类型") String operation,
+                                   @ApiParam("顶升高度") Double jackHeight) {
+        AgvCommand.RobotGoTargetResData result = edgeAgvService.robotGoTarget(
+            vo, sourceId, targetId, taskId, operation, jackHeight
+        );
+        return AjaxResult.ok(result);
+    }
+
+    @ApiOperation("自由导航到坐标点")
+    @GetMapping("/freeGo")
+    public AjaxResult freeGo(EdgeCommonVO vo,
+                              @ApiParam("X坐标") double x,
+                              @ApiParam("Y坐标") double y,
+                              @ApiParam("角度") double theta,
+                              @ApiParam("任务ID") String taskId) {
+        // 构建自由导航点
+        AgvCommand.FreeGoPoint freeGoPoint = AgvCommand.FreeGoPoint.newBuilder()
+            .setX(x)
+            .setY(y)
+            .setTheta(theta)
+            .build();
+        
+        AgvCommand.RobotGoTargetResData result = edgeAgvService.robotGoTargetWithFreeGo(
+            vo, freeGoPoint, taskId
+        );
+        return AjaxResult.ok(result);
+    }
+
+    @ApiOperation("暂停导航任务")
+    @GetMapping("/pauseTask")
+    public AjaxResult pauseTask(EdgeCommonVO vo) {
+        edgeAgvService.robotTaskPause(vo);
+        return AjaxResult.ok();
+    }
+
+    @ApiOperation("继续导航任务")
+    @GetMapping("/resumeTask")
+    public AjaxResult resumeTask(EdgeCommonVO vo) {
+        edgeAgvService.robotTaskResume(vo);
+        return AjaxResult.ok();
+    }
+
+    @ApiOperation("取消导航任务")
+    @GetMapping("/cancelTask")
+    public AjaxResult cancelTask(EdgeCommonVO vo) {
+        edgeAgvService.robotTaskCancel(vo);
+        return AjaxResult.ok();
+    }
+
+    @ApiOperation("查询当前导航状态")
+    @GetMapping("/getTaskStatus")
+    public AjaxResult getTaskStatus(EdgeCommonVO vo,
+                                     @ApiParam("是否简化返回") boolean simple) {
+        AgvCommand.RobotStatusTaskResData taskData = edgeAgvService.getRobotStatusTaskCurrent(vo, simple);
+        return AjaxResult.ok(taskData);
+    }
+
+    @ApiOperation("查询站点列表")
+    @GetMapping("/getStationList")
+    public AjaxResult getStationList(EdgeCommonVO vo) {
+        AgvCommand.QueryStationListResult result = edgeAgvService.queryStationList(vo);
+        return AjaxResult.ok(result);
+    }
+
+    @ApiOperation("切换地图")
+    @GetMapping("/loadMap")
+    public AjaxResult loadMap(EdgeCommonVO vo,
+                               @ApiParam("地图名称") String mapName) {
+        AgvCommand.RobotLoadMapResult result = edgeAgvService.robotLoadMap(vo, mapName);
+        java.util.Map<String, Object> resultMap = new java.util.HashMap<>();
+        resultMap.put("retCode", result.getRetCode());
+        resultMap.put("errMsg", result.getErrMsg());
+        return AjaxResult.ok(resultMap);
+    }
+
+    @ApiOperation("查询地图加载状态")
+    @GetMapping("/getLoadMapStatus")
+    public AjaxResult getLoadMapStatus(EdgeCommonVO vo) {
+        AgvCommand.RobotQueryLoadMapStatusResult result = edgeAgvService.queryLoadMapStatus(vo);
+        return AjaxResult.ok(result);
+    }
+}

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeArmController.java

@@ -0,0 +1,221 @@
+package com.cmvr.web.controller.api;
+
+import cmvr.api.ArmCommand;
+import com.cmvr.common.core.domain.AjaxResult;
+import com.cmvr.edge.client.model.EdgeCommonVO;
+import com.cmvr.edge.client.model.arm.*;
+import com.cmvr.edge.client.service.EdgeArmService;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import lombok.RequiredArgsConstructor;
+import org.springframework.web.bind.annotation.GetMapping;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.RequestBody;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RestController;
+
+/**
+ * 边缘系统机械臂控制器
+ *
+ * @author cmvr-iot
+ * @since 2026-07-01
+ */
+@Api(tags = "边缘--机械臂")
+@RestController
+@RequestMapping("/api/arm")
+@RequiredArgsConstructor
+public class EdgeArmController {
+
+    private final EdgeArmService edgeArmService;
+
+    @ApiOperation("关闭力矩")
+    @GetMapping("/torqueOff")
+    public AjaxResult torqueOff(EdgeCommonVO vo) {
+        edgeArmService.torqueOff(vo);
+        return AjaxResult.ok();
+    }
+
+    @ApiOperation("开启力矩")
+    @GetMapping("/torqueOn")
+    public AjaxResult torqueOn(EdgeCommonVO vo) {
+        edgeArmService.torqueOn(vo);
+        return AjaxResult.ok();
+    }
+
+    @ApiOperation("关节空间运动")
+    @PostMapping("/moveJ")
+    public AjaxResult moveJ(@RequestBody EdgeArmMoveJVO moveJVO) {
+        edgeArmService.moveJ(
+            moveJVO,
+            moveJVO.getTarget(),
+            moveJVO.getVelocity(),
+            moveJVO.getAcceleration(),
+            moveJVO.getBlendRadius(),
+            moveJVO.getJointVelocityLimits(),
+            moveJVO.getAsynchronous()
+        );
+        return AjaxResult.ok();
+    }
+
+    @ApiOperation("笛卡尔空间直线运动")
+    @PostMapping("/moveL")
+    public AjaxResult moveL(@RequestBody EdgeArmMoveLVO moveLVO) {
+        edgeArmService.moveL(
+            moveLVO,
+            moveLVO.getX(),
+            moveLVO.getY(),
+            moveLVO.getZ(),
+            moveLVO.getRx(),
+            moveLVO.getRy(),
+            moveLVO.getRz(),
+            moveLVO.getFrame(),
+            moveLVO.getVelocity(),
+            moveLVO.getAcceleration(),
+            moveLVO.getBlendRadius()
+        );
+        return AjaxResult.ok();
+    }
+
+    @ApiOperation("关节速度控制")
+    @PostMapping("/speedJ")
+    public AjaxResult speedJ(@RequestBody EdgeArmSpeedJVO speedJVO) {
+        edgeArmService.speedJ(
+            speedJVO,
+            speedJVO.getVelocities(),
+            speedJVO.getAcceleration(),
+            speedJVO.getDuration()
+        );
+        return AjaxResult.ok();
+    }
+
+    @ApiOperation("笛卡尔速度控制")
+    @PostMapping("/speedL")
+    public AjaxResult speedL(@RequestBody EdgeArmSpeedLVO speedLVO) {
+        edgeArmService.speedL(
+            speedLVO,
+            speedLVO.getVx(),
+            speedLVO.getVy(),
+            speedLVO.getVz(),
+            speedLVO.getWx(),
+            speedLVO.getWy(),
+            speedLVO.getWz(),
+            speedLVO.getFrame(),
+            speedLVO.getAcceleration(),
+            speedLVO.getDuration()
+        );
+        return AjaxResult.ok();
+    }
+
+    @ApiOperation("伺服关节控制")
+    @PostMapping("/servoJ")
+    public AjaxResult servoJ(@RequestBody EdgeArmServoJVO servoJVO) {
+        edgeArmService.servoJ(servoJVO, servoJVO.getTarget());
+        return AjaxResult.ok();
+    }
+
+    @ApiOperation("停止运动")
+    @GetMapping("/stopMotion")
+    public AjaxResult stopMotion(EdgeCommonVO vo) {
+        edgeArmService.stopMotion(vo);
+        return AjaxResult.ok();
+    }
+
+    @ApiOperation("获取关节状态")
+    @GetMapping("/getJointState")
+    public AjaxResult getJointState(EdgeCommonVO vo) {
+        ArmCommand.JointResponse result = edgeArmService.getJointState(vo);
+        ArmCommand.JointState state = result.getState();
+        
+        // 转换为VO
+        EdgeArmJointStateVO jointStateVO = new EdgeArmJointStateVO();
+        jointStateVO.setName(state.getNameList());
+        jointStateVO.setPosition(state.getPositionList());
+        jointStateVO.setVelocity(state.getVelocityList());
+        jointStateVO.setEffort(state.getEffortList());
+        jointStateVO.setTimestamp(state.getTimestamp());
+        
+        return AjaxResult.ok(jointStateVO);
+    }
+
+    @ApiOperation("获取末端位姿")
+    @GetMapping("/getPose")
+    public AjaxResult getPose(EdgeCommonVO vo, String baseLink, String eeLink) {
+        ArmCommand.GetPose.Response result = edgeArmService.getPose(vo, baseLink, eeLink);
+        ArmCommand.CartesianPose pose = result.getPose();
+        
+        // 转换为VO
+        EdgeArmCartesianPoseVO poseVO = new EdgeArmCartesianPoseVO();
+        poseVO.setX(pose.getX());
+        poseVO.setY(pose.getY());
+        poseVO.setZ(pose.getZ());
+        poseVO.setRx(pose.getRx());
+        poseVO.setRy(pose.getRy());
+        poseVO.setRz(pose.getRz());
+        
+        return AjaxResult.ok(poseVO);
+    }
+
+    @ApiOperation("标定零点")
+    @GetMapping("/calibrateZeroQ")
+    public AjaxResult calibrateZeroQ(EdgeCommonVO vo, String jointName) {
+        edgeArmService.calibrateZeroQ(vo, jointName);
+        return AjaxResult.ok();
+    }
+
+    @ApiOperation("获取位姿矩阵")
+    @GetMapping("/getPoseMatrix")
+    public AjaxResult getPoseMatrix(EdgeCommonVO vo, String baseLink, String eeLink) {
+        ArmCommand.GetPoseMatrix.Response result = edgeArmService.getPoseMatrix(vo, baseLink, eeLink);
+        // 将TransformMatrix4x4转换为Map
+        ArmCommand.TransformMatrix4x4 matrix = result.getMatrix();
+        java.util.Map<String, Object> matrixMap = new java.util.HashMap<>();
+        matrixMap.put("m00", matrix.getM00());
+        matrixMap.put("m01", matrix.getM01());
+        matrixMap.put("m02", matrix.getM02());
+        matrixMap.put("m03", matrix.getM03());
+        matrixMap.put("m10", matrix.getM10());
+        matrixMap.put("m11", matrix.getM11());
+        matrixMap.put("m12", matrix.getM12());
+        matrixMap.put("m13", matrix.getM13());
+        matrixMap.put("m20", matrix.getM20());
+        matrixMap.put("m21", matrix.getM21());
+        matrixMap.put("m22", matrix.getM22());
+        matrixMap.put("m23", matrix.getM23());
+        matrixMap.put("m30", matrix.getM30());
+        matrixMap.put("m31", matrix.getM31());
+        matrixMap.put("m32", matrix.getM32());
+        matrixMap.put("m33", matrix.getM33());
+        return AjaxResult.ok(matrixMap);
+    }
+
+    @ApiOperation("计算正向运动学")
+    @PostMapping("/computeForwardKinematics")
+    public AjaxResult computeForwardKinematics(@RequestBody EdgeArmForwardKinematicsVO fkVO) {
+        ArmCommand.ComputeForwardKinematics.Response result = edgeArmService.computeForwardKinematics(
+            fkVO,
+            fkVO.getJoints(),
+            fkVO.getBaseLink(),
+            fkVO.getEeLink()
+        );
+        // 将TransformMatrix4x4转换为Map
+        ArmCommand.TransformMatrix4x4 matrix = result.getMatrix();
+        java.util.Map<String, Object> matrixMap = new java.util.HashMap<>();
+        matrixMap.put("m00", matrix.getM00());
+        matrixMap.put("m01", matrix.getM01());
+        matrixMap.put("m02", matrix.getM02());
+        matrixMap.put("m03", matrix.getM03());
+        matrixMap.put("m10", matrix.getM10());
+        matrixMap.put("m11", matrix.getM11());
+        matrixMap.put("m12", matrix.getM12());
+        matrixMap.put("m13", matrix.getM13());
+        matrixMap.put("m20", matrix.getM20());
+        matrixMap.put("m21", matrix.getM21());
+        matrixMap.put("m22", matrix.getM22());
+        matrixMap.put("m23", matrix.getM23());
+        matrixMap.put("m30", matrix.getM30());
+        matrixMap.put("m31", matrix.getM31());
+        matrixMap.put("m32", matrix.getM32());
+        matrixMap.put("m33", matrix.getM33());
+        return AjaxResult.ok(matrixMap);
+    }
+}

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeHumanoidRobotController.java

@@ -1,55 +0,0 @@
-package com.cmvr.web.controller.api;
-
-import com.cmvr.common.core.domain.AjaxResult;
-import com.cmvr.edge.client.model.EdgeCommonVO;
-import com.cmvr.edge.client.model.humanoid.EdgeMoveJVO;
-import com.cmvr.edge.client.model.humanoid.EdgeSpeedJVO;
-import com.cmvr.edge.client.service.EdgeHumanoidRobotService;
-import io.swagger.annotations.Api;
-import io.swagger.annotations.ApiOperation;
-import lombok.RequiredArgsConstructor;
-import org.springframework.web.bind.annotation.GetMapping;
-import org.springframework.web.bind.annotation.PostMapping;
-import org.springframework.web.bind.annotation.RequestBody;
-import org.springframework.web.bind.annotation.RequestMapping;
-import org.springframework.web.bind.annotation.RestController;
-
-@Api(tags = "边缘--机械臂")
-@RestController
-@RequestMapping("/api/humanoid")
-@RequiredArgsConstructor
-public class EdgeHumanoidRobotController {
-
-    private final EdgeHumanoidRobotService edgeHumanoidRobotService;
-
-    @ApiOperation("moveJ")
-    @PostMapping("/moveJ")
-    public AjaxResult moveJ(@RequestBody EdgeMoveJVO moveJVO) {
-        return AjaxResult.ok(edgeHumanoidRobotService.moveJ(moveJVO));
-    }
-
-    @ApiOperation("speedJ")
-    @PostMapping("/speedJ")
-    public AjaxResult speedJ(@RequestBody EdgeSpeedJVO speedJVO) {
-        return AjaxResult.ok(edgeHumanoidRobotService.speedJ(speedJVO));
-    }
-
-    @ApiOperation("获取关节状态")
-    @GetMapping("/getJointState")
-    public AjaxResult status(EdgeCommonVO vo) {
-        return AjaxResult.ok(edgeHumanoidRobotService.getJointState(vo));
-    }
-
-    @ApiOperation("使能开")
-    @GetMapping("/torqueOn")
-    public AjaxResult torqueOn(EdgeCommonVO vo) {
-        return AjaxResult.ok(edgeHumanoidRobotService.torqueOn(vo));
-    }
-
-    @ApiOperation("使能关")
-    @GetMapping("/torqueOff")
-    public AjaxResult torqueOff(EdgeCommonVO vo) {
-        return AjaxResult.ok(edgeHumanoidRobotService.torqueOff(vo));
-    }
-
-}

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/manage/GrpcServiceManager.java

@@ -55,7 +55,7 @@ public class GrpcServiceManager {
         clientFactories.put(DexHandServiceGrpc.DexHandServiceBlockingStub.class, new GrpcClientFactory<>(DexHandServiceGrpc::newBlockingStub));
         clientFactories.put(DexHandServiceGrpc.DexHandServiceStub.class, new GrpcClientFactory<>(DexHandServiceGrpc::newStub));
         // 注册机械臂服务的stub
-        clientFactories.put(HumanoidRobotServiceGrpc.HumanoidRobotServiceBlockingStub.class, new GrpcClientFactory<>(HumanoidRobotServiceGrpc::newBlockingStub));
+        clientFactories.put(ArmServiceGrpc.ArmServiceBlockingStub.class, new GrpcClientFactory<>(ArmServiceGrpc::newBlockingStub));
         clientFactories.put(HlcServiceGrpc.HlcServiceBlockingStub.class, new GrpcClientFactory<>(HlcServiceGrpc::newBlockingStub));
         // 注册agv服务的stub
         clientFactories.put(AgvServiceGrpc.AgvServiceBlockingStub.class, new GrpcClientFactory<>(AgvServiceGrpc::newBlockingStub));

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/agv/EdgeAgvBatteryStatusVO.java

@@ -0,0 +1,28 @@
+package com.cmvr.edge.client.model.agv;
+
+import io.swagger.annotations.ApiModel;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * AGV电池状态VO
+ *
+ * @author cmvr-iot
+ * @since 2026-07-01
+ */
+@Data
+@ApiModel("AGV电池状态")
+public class EdgeAgvBatteryStatusVO {
+
+    @ApiModelProperty("电池电量百分比（0-100）")
+    private double batteryPercent;
+
+    @ApiModelProperty("电池电压（单位：伏特）")
+    private double voltage;
+
+    @ApiModelProperty("电池电流（单位：安培）")
+    private double current;
+
+    @ApiModelProperty("充电状态（true=充电中，false=未充电）")
+    private boolean charging;
+}

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/agv/EdgeAgvNavigationResultVO.java

@@ -0,0 +1,25 @@
+package com.cmvr.edge.client.model.agv;
+
+import io.swagger.annotations.ApiModel;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * AGV导航任务结果VO
+ *
+ * @author cmvr-iot
+ * @since 2026-07-01
+ */
+@Data
+@ApiModel("AGV导航任务结果")
+public class EdgeAgvNavigationResultVO {
+
+    @ApiModelProperty("返回码（0=成功）")
+    private int retCode;
+
+    @ApiModelProperty("错误信息")
+    private String errMsg;
+
+    @ApiModelProperty("任务ID")
+    private String taskId;
+}

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/agv/EdgeAgvRobotLocationVO.java

@@ -0,0 +1,28 @@
+package com.cmvr.edge.client.model.agv;
+
+import io.swagger.annotations.ApiModel;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * AGV机器人位置VO
+ *
+ * @author cmvr-iot
+ * @since 2026-07-01
+ */
+@Data
+@ApiModel("AGV机器人位置")
+public class EdgeAgvRobotLocationVO {
+
+    @ApiModelProperty("X坐标（单位：米）")
+    private double x;
+
+    @ApiModelProperty("Y坐标（单位：米）")
+    private double y;
+
+    @ApiModelProperty("角度（单位：弧度）")
+    private double theta;
+
+    @ApiModelProperty("地图名称")
+    private String mapName;
+}

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/agv/EdgeAgvStationVO.java

@@ -0,0 +1,37 @@
+package com.cmvr.edge.client.model.agv;
+
+import io.swagger.annotations.ApiModel;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * AGV站点信息VO
+ *
+ * @author cmvr-iot
+ * @since 2026-07-01
+ */
+@Data
+@ApiModel("AGV站点信息")
+public class EdgeAgvStationVO {
+
+    @ApiModelProperty("站点ID")
+    private String stationId;
+
+    @ApiModelProperty("站点名称")
+    private String stationName;
+
+    @ApiModelProperty("X坐标（单位：米）")
+    private double x;
+
+    @ApiModelProperty("Y坐标（单位：米）")
+    private double y;
+
+    @ApiModelProperty("角度（单位：弧度）")
+    private double theta;
+
+    @ApiModelProperty("站点类型")
+    private String stationType;
+
+    @ApiModelProperty("站点描述")
+    private String description;
+}

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/agv/EdgeAgvTaskStatusVO.java

@@ -0,0 +1,31 @@
+package com.cmvr.edge.client.model.agv;
+
+import io.swagger.annotations.ApiModel;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * AGV任务状态VO
+ *
+ * @author cmvr-iot
+ * @since 2026-07-01
+ */
+@Data
+@ApiModel("AGV任务状态")
+public class EdgeAgvTaskStatusVO {
+
+    @ApiModelProperty("任务状态")
+    private int taskStatus;
+
+    @ApiModelProperty("当前站点ID")
+    private String currentStationId;
+
+    @ApiModelProperty("目标站点ID")
+    private String targetStationId;
+
+    @ApiModelProperty("已经过的站点数量")
+    private int passedStationCount;
+
+    @ApiModelProperty("剩余站点数量")
+    private int remainingStationCount;
+}

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/arm/EdgeArmCartesianPoseVO.java

@@ -0,0 +1,34 @@
+package com.cmvr.edge.client.model.arm;
+
+import io.swagger.annotations.ApiModel;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 机械臂笛卡尔位姿VO
+ *
+ * @author cmvr-iot
+ * @since 2026-07-01
+ */
+@Data
+@ApiModel("机械臂笛卡尔位姿")
+public class EdgeArmCartesianPoseVO {
+
+    @ApiModelProperty("X轴坐标（单位：米）")
+    private double x;
+
+    @ApiModelProperty("Y轴坐标（单位：米）")
+    private double y;
+
+    @ApiModelProperty("Z轴坐标（单位：米）")
+    private double z;
+
+    @ApiModelProperty("RX旋转角度（单位：弧度）")
+    private double rx;
+
+    @ApiModelProperty("RY旋转角度（单位：弧度）")
+    private double ry;
+
+    @ApiModelProperty("RZ旋转角度（单位：弧度）")
+    private double rz;
+}

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/arm/EdgeArmForwardKinematicsVO.java

@@ -0,0 +1,28 @@
+package com.cmvr.edge.client.model.arm;
+
+import com.cmvr.edge.client.model.EdgeCommonVO;
+import io.swagger.annotations.ApiModel;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+/**
+ * 机械臂正向运动学计算VO
+ *
+ * @author cmvr-iot
+ * @since 2026-07-01
+ */
+@Data
+@EqualsAndHashCode(callSuper = true)
+@ApiModel("机械臂正向运动学计算参数")
+public class EdgeArmForwardKinematicsVO extends EdgeCommonVO {
+
+    @ApiModelProperty(value = "关节位置数组（6个关节角度，单位：弧度）", required = true)
+    private double[] joints;
+
+    @ApiModelProperty("基座连杆名称")
+    private String baseLink;
+
+    @ApiModelProperty("末端执行器连杆名称")
+    private String eeLink;
+}

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/arm/EdgeArmJointStateVO.java

@@ -0,0 +1,33 @@
+package com.cmvr.edge.client.model.arm;
+
+import io.swagger.annotations.ApiModel;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.util.List;
+
+/**
+ * 机械臂关节状态VO
+ *
+ * @author cmvr-iot
+ * @since 2026-07-01
+ */
+@Data
+@ApiModel("机械臂关节状态")
+public class EdgeArmJointStateVO {
+
+    @ApiModelProperty("关节名称列表")
+    private List<String> name;
+
+    @ApiModelProperty("关节位置列表（单位：弧度）")
+    private List<Double> position;
+
+    @ApiModelProperty("关节速度列表（单位：rad/s）")
+    private List<Double> velocity;
+
+    @ApiModelProperty("关节力矩列表")
+    private List<Double> effort;
+
+    @ApiModelProperty("时间戳")
+    private double timestamp;
+}

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/arm/EdgeArmMoveJVO.java

@@ -0,0 +1,37 @@
+package com.cmvr.edge.client.model.arm;
+
+import com.cmvr.edge.client.model.EdgeCommonVO;
+import io.swagger.annotations.ApiModel;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+/**
+ * 机械臂关节空间运动VO
+ *
+ * @author cmvr-iot
+ * @since 2026-07-01
+ */
+@Data
+@EqualsAndHashCode(callSuper = true)
+@ApiModel("机械臂关节空间运动参数")
+public class EdgeArmMoveJVO extends EdgeCommonVO {
+
+    @ApiModelProperty(value = "目标关节位置数组（6个关节角度，单位：弧度）", required = true)
+    private double[] target;
+
+    @ApiModelProperty("运动速度（单位：m/s）")
+    private Double velocity;
+
+    @ApiModelProperty("加速度（单位：m/s²）")
+    private Double acceleration;
+
+    @ApiModelProperty("融合半径（单位：m）")
+    private Double blendRadius;
+
+    @ApiModelProperty("关节速度限制数组")
+    private double[] jointVelocityLimits;
+
+    @ApiModelProperty("是否异步执行")
+    private Boolean asynchronous;
+}

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/arm/EdgeArmMoveLVO.java

@@ -0,0 +1,49 @@
+package com.cmvr.edge.client.model.arm;
+
+import com.cmvr.edge.client.model.EdgeCommonVO;
+import io.swagger.annotations.ApiModel;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+/**
+ * 机械臂笛卡尔空间直线运动VO
+ *
+ * @author cmvr-iot
+ * @since 2026-07-01
+ */
+@Data
+@EqualsAndHashCode(callSuper = true)
+@ApiModel("机械臂笛卡尔空间直线运动参数")
+public class EdgeArmMoveLVO extends EdgeCommonVO {
+
+    @ApiModelProperty(value = "X轴坐标（单位：米）", required = true)
+    private double x;
+
+    @ApiModelProperty(value = "Y轴坐标（单位：米）", required = true)
+    private double y;
+
+    @ApiModelProperty(value = "Z轴坐标（单位：米）", required = true)
+    private double z;
+
+    @ApiModelProperty(value = "RX旋转角度（单位：弧度）", required = true)
+    private double rx;
+
+    @ApiModelProperty(value = "RY旋转角度（单位：弧度）", required = true)
+    private double ry;
+
+    @ApiModelProperty(value = "RZ旋转角度（单位：弧度）", required = true)
+    private double rz;
+
+    @ApiModelProperty("坐标系类型（BASE/TOOL/WORLD/USER）")
+    private String frame;
+
+    @ApiModelProperty("运动速度（单位：m/s）")
+    private Double velocity;
+
+    @ApiModelProperty("加速度（单位：m/s²）")
+    private Double acceleration;
+
+    @ApiModelProperty("融合半径（单位：m）")
+    private Double blendRadius;
+}

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/arm/EdgeArmMoveToPointVO.java

@@ -0,0 +1,49 @@
+package com.cmvr.edge.client.model.arm;
+
+import com.cmvr.edge.client.model.EdgeCommonVO;
+import io.swagger.annotations.ApiModel;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+/**
+ * 机械臂末端运动到指定点VO
+ *
+ * @author cmvr-iot
+ * @since 2026-07-01
+ */
+@Data
+@EqualsAndHashCode(callSuper = true)
+@ApiModel("机械臂末端运动到指定点参数")
+public class EdgeArmMoveToPointVO extends EdgeCommonVO {
+
+    @ApiModelProperty(value = "X轴坐标（单位：米）", required = true)
+    private double x;
+
+    @ApiModelProperty(value = "Y轴坐标（单位：米）", required = true)
+    private double y;
+
+    @ApiModelProperty(value = "Z轴坐标（单位：米）", required = true)
+    private double z;
+
+    @ApiModelProperty(value = "RX旋转角度（单位：弧度）", required = true)
+    private double rx;
+
+    @ApiModelProperty(value = "RY旋转角度（单位：弧度）", required = true)
+    private double ry;
+
+    @ApiModelProperty(value = "RZ旋转角度（单位：弧度）", required = true)
+    private double rz;
+
+    @ApiModelProperty("坐标系类型（BASE/TOOL/WORLD/USER）")
+    private String frame;
+
+    @ApiModelProperty("运动速度（单位：m/s）")
+    private Double velocity;
+
+    @ApiModelProperty("加速度（单位：m/s²）")
+    private Double acceleration;
+
+    @ApiModelProperty("融合半径（单位：m）")
+    private Double blendRadius;
+}

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/arm/EdgeArmServoJVO.java

@@ -0,0 +1,22 @@
+package com.cmvr.edge.client.model.arm;
+
+import com.cmvr.edge.client.model.EdgeCommonVO;
+import io.swagger.annotations.ApiModel;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+/**
+ * 机械臂伺服关节控制VO
+ *
+ * @author cmvr-iot
+ * @since 2026-07-01
+ */
+@Data
+@EqualsAndHashCode(callSuper = true)
+@ApiModel("机械臂伺服关节控制参数")
+public class EdgeArmServoJVO extends EdgeCommonVO {
+
+    @ApiModelProperty(value = "目标关节位置数组（6个关节角度，单位：弧度）", required = true)
+    private double[] target;
+}

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/arm/EdgeArmSpeedJVO.java

@@ -0,0 +1,28 @@
+package com.cmvr.edge.client.model.arm;
+
+import com.cmvr.edge.client.model.EdgeCommonVO;
+import io.swagger.annotations.ApiModel;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+/**
+ * 机械臂关节速度控制VO
+ *
+ * @author cmvr-iot
+ * @since 2026-07-01
+ */
+@Data
+@EqualsAndHashCode(callSuper = true)
+@ApiModel("机械臂关节速度控制参数")
+public class EdgeArmSpeedJVO extends EdgeCommonVO {
+
+    @ApiModelProperty(value = "关节速度数组（6个关节速度，单位：rad/s）", required = true)
+    private double[] velocities;
+
+    @ApiModelProperty("加速度（单位：rad/s²）")
+    private Double acceleration;
+
+    @ApiModelProperty("持续时间（单位：秒）")
+    private Double duration;
+}

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/arm/EdgeArmSpeedLVO.java

@@ -0,0 +1,46 @@
+package com.cmvr.edge.client.model.arm;
+
+import com.cmvr.edge.client.model.EdgeCommonVO;
+import io.swagger.annotations.ApiModel;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+/**
+ * 机械臂笛卡尔速度控制VO
+ *
+ * @author cmvr-iot
+ * @since 2026-07-01
+ */
+@Data
+@EqualsAndHashCode(callSuper = true)
+@ApiModel("机械臂笛卡尔速度控制参数")
+public class EdgeArmSpeedLVO extends EdgeCommonVO {
+
+    @ApiModelProperty(value = "X轴速度（单位：m/s）", required = true)
+    private double vx;
+
+    @ApiModelProperty(value = "Y轴速度（单位：m/s）", required = true)
+    private double vy;
+
+    @ApiModelProperty(value = "Z轴速度（单位：m/s）", required = true)
+    private double vz;
+
+    @ApiModelProperty(value = "RX角速度（单位：rad/s）", required = true)
+    private double wx;
+
+    @ApiModelProperty(value = "RY角速度（单位：rad/s）", required = true)
+    private double wy;
+
+    @ApiModelProperty(value = "RZ角速度（单位：rad/s）", required = true)
+    private double wz;
+
+    @ApiModelProperty("坐标系类型（BASE/TOOL/WORLD/USER）")
+    private String frame;
+
+    @ApiModelProperty("加速度（单位：m/s²）")
+    private Double acceleration;
+
+    @ApiModelProperty("持续时间（单位：秒）")
+    private Double duration;
+}

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/humanoid/EdgeSpeedJVO.java

@@ -1,22 +0,0 @@
-package com.cmvr.edge.client.model.humanoid;
-
-import cmvr.api.HumanoidRobotCommand;
-import com.cmvr.edge.client.model.EdgeCommonVO;
-import lombok.Data;
-
-@Data
-public class EdgeSpeedJVO extends EdgeCommonVO {
-    /** 关节角速度 (rad/s) */
-    private double vel;
-
-    /** 加速度 (rad/s^2) */
-    private double acc;
-
-    /** 关节名称 */
-    private String jointName;
-
-    /**
-     * 角度
-     */
-    private HumanoidRobotCommand.RobotJointIndexDirection dir;
-}

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeArmService.java

@@ -0,0 +1,178 @@
+package com.cmvr.edge.client.service;
+
+import cmvr.api.ArmCommand;
+import cmvr.api.Common;
+import com.cmvr.edge.client.model.EdgeCommonVO;
+
+/**
+ * 边缘系统机械臂服务
+ *
+ * @author cmvr-iot
+ * @since 2026-07-01
+ */
+public interface EdgeArmService {
+
+    /**
+     * 关闭力矩（命令码：torqueOff）
+     * 关闭机械臂的力矩控制，使机械臂进入自由拖动模式
+     *
+     * @param edgeCommonVO 边缘通用参数
+     * @return 操作结果
+     */
+    Common.CommandHeader.Feedback torqueOff(EdgeCommonVO edgeCommonVO);
+
+    /**
+     * 开启力矩（命令码：torqueOn）
+     * 开启机械臂的力矩控制，使机械臂进入受控状态
+     *
+     * @param edgeCommonVO 边缘通用参数
+     * @return 操作结果
+     */
+    Common.CommandHeader.Feedback torqueOn(EdgeCommonVO edgeCommonVO);
+
+    /**
+     * 关节空间运动（命令码：moveJ）
+     * 控制机械臂通过关节空间插值运动到目标关节位置
+     *
+     * @param edgeCommonVO 边缘通用参数
+     * @param target 目标关节位置数组（6个关节角度，单位：弧度）
+     * @param velocity 运动速度（单位：m/s，可选）
+     * @param acceleration 加速度（单位：m/s²，可选）
+     * @param blendRadius 融合半径（单位：m，可选）
+     * @param jointVelocityLimits 关节速度限制数组（可选）
+     * @param asynchronous 是否异步执行（可选）
+     * @return 运动结果
+     */
+    ArmCommand.MoveJ.Response moveJ(EdgeCommonVO edgeCommonVO, double[] target, Double velocity, 
+                                     Double acceleration, Double blendRadius, 
+                                     double[] jointVelocityLimits, Boolean asynchronous);
+
+    /**
+     * 笛卡尔空间直线运动（命令码：moveL）
+     * 控制机械臂在笛卡尔空间中沿直线运动到目标位姿
+     *
+     * @param edgeCommonVO 边缘通用参数
+     * @param x X轴坐标（单位：米）
+     * @param y Y轴坐标（单位：米）
+     * @param z Z轴坐标（单位：米）
+     * @param rx RX旋转角度（单位：弧度）
+     * @param ry RY旋转角度（单位：弧度）
+     * @param rz RZ旋转角度（单位：弧度）
+     * @param frame 坐标系类型（BASE/TOOL/WORLD/USER）
+     * @param velocity 运动速度（单位：m/s，可选）
+     * @param acceleration 加速度（单位：m/s²，可选）
+     * @param blendRadius 融合半径（单位：m，可选）
+     * @return 运动结果
+     */
+    ArmCommand.MoveL.Response moveL(EdgeCommonVO edgeCommonVO, double x, double y, double z,
+                                     double rx, double ry, double rz, String frame,
+                                     Double velocity, Double acceleration, Double blendRadius);
+
+    /**
+     * 关节速度控制（命令码：speedJ）
+     * 控制机械臂各关节以指定速度运动
+     *
+     * @param edgeCommonVO 边缘通用参数
+     * @param velocities 关节速度数组（6个关节速度，单位：rad/s）
+     * @param acceleration 加速度（单位：rad/s²，可选）
+     * @param duration 持续时间（单位：秒，可选）
+     * @return 控制结果
+     */
+    ArmCommand.SpeedJ.Response speedJ(EdgeCommonVO edgeCommonVO, double[] velocities, 
+                                       Double acceleration, Double duration);
+
+    /**
+     * 笛卡尔速度控制（命令码：speedL）
+     * 控制机械臂末端以指定笛卡尔速度运动
+     *
+     * @param edgeCommonVO 边缘通用参数
+     * @param vx X轴速度（单位：m/s）
+     * @param vy Y轴速度（单位：m/s）
+     * @param vz Z轴速度（单位：m/s）
+     * @param wx RX角速度（单位：rad/s）
+     * @param wy RY角速度（单位：rad/s）
+     * @param wz RZ角速度（单位：rad/s）
+     * @param frame 坐标系类型（BASE/TOOL/WORLD/USER）
+     * @param acceleration 加速度（单位：m/s²，可选）
+     * @param duration 持续时间（单位：秒，可选）
+     * @return 控制结果
+     */
+    ArmCommand.SpeedL.Response speedL(EdgeCommonVO edgeCommonVO, double vx, double vy, double vz,
+                                       double wx, double wy, double wz, String frame,
+                                       Double acceleration, Double duration);
+
+    /**
+     * 伺服关节控制（命令码：servoJ）
+     * 实时控制机械臂关节位置，用于高频控制场景
+     *
+     * @param edgeCommonVO 边缘通用参数
+     * @param target 目标关节位置数组（6个关节角度，单位：弧度）
+     * @return 控制结果
+     */
+    ArmCommand.ServoJ.Response servoJ(EdgeCommonVO edgeCommonVO, double[] target);
+
+    /**
+     * 停止运动（命令码：stopMotion）
+     * 立即停止机械臂当前正在执行的所有运动
+     *
+     * @param edgeCommonVO 边缘通用参数
+     * @return 停止结果
+     */
+    Common.CommandHeader.Feedback stopMotion(EdgeCommonVO edgeCommonVO);
+
+    /**
+     * 获取关节状态（命令码：getJointState）
+     * 获取机械臂当前各关节的位置、速度和力矩信息
+     *
+     * @param edgeCommonVO 边缘通用参数
+     * @return 关节状态信息
+     */
+    ArmCommand.JointResponse getJointState(EdgeCommonVO edgeCommonVO);
+
+    /**
+     * 获取末端位姿（命令码：getPose）
+     * 获取机械臂末端执行器相对于基座的笛卡尔位姿
+     *
+     * @param edgeCommonVO 边缘通用参数
+     * @param baseLink 基座连杆名称（可选，默认为base）
+     * @param eeLink 末端执行器连杆名称（可选，默认为tool0）
+     * @return 末端位姿信息
+     */
+    ArmCommand.GetPose.Response getPose(EdgeCommonVO edgeCommonVO, String baseLink, String eeLink);
+
+    /**
+     * 标定零点（命令码：calibrateZeroQ）
+     * 对指定关节进行零点标定
+     *
+     * @param edgeCommonVO 边缘通用参数
+     * @param jointName 关节名称（可选，为空则标定所有关节）
+     * @return 标定结果
+     */
+    ArmCommand.CalibrateZeroQ.Response calibrateZeroQ(EdgeCommonVO edgeCommonVO, String jointName);
+
+    /**
+     * 获取位姿矩阵（命令码：getPoseMatrix）
+     * 获取机械臂末端执行器相对于基座的4x4变换矩阵
+     *
+     * @param edgeCommonVO 边缘通用参数
+     * @param baseLink 基座连杆名称（可选，默认为base）
+     * @param eeLink 末端执行器连杆名称（可选，默认为tool0）
+     * @return 位姿矩阵信息
+     */
+    ArmCommand.GetPoseMatrix.Response getPoseMatrix(EdgeCommonVO edgeCommonVO, String baseLink, String eeLink);
+
+    /**
+     * 计算正向运动学（命令码：computeForwardKinematics）
+     * 根据给定的关节位置计算末端执行器的位姿矩阵
+     *
+     * @param edgeCommonVO 边缘通用参数
+     * @param joints 关节位置数组（6个关节角度，单位：弧度）
+     * @param baseLink 基座连杆名称（可选，默认为base）
+     * @param eeLink 末端执行器连杆名称（可选，默认为tool0）
+     * @return 正向运动学计算结果（4x4变换矩阵）
+     */
+    ArmCommand.ComputeForwardKinematics.Response computeForwardKinematics(EdgeCommonVO edgeCommonVO, 
+                                                                            double[] joints, 
+                                                                            String baseLink, 
+                                                                            String eeLink);
+}

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeHumanoidRobotService.java

@@ -1,35 +0,0 @@
-package com.cmvr.edge.client.service;
-
-import com.cmvr.edge.client.model.EdgeCommonVO;
-import com.cmvr.edge.client.model.humanoid.EdgeMoveJVO;
-import com.cmvr.edge.client.model.humanoid.EdgeSpeedJVO;
-
-/**
- * 边缘系统机械臂服务
- */
-public interface EdgeHumanoidRobotService {
-    /**
-     * 移动机械臂
-     */
-    public String moveJ(EdgeMoveJVO vo);
-
-    /**
-     * 获取关节状态
-     */
-    public String getJointState(EdgeCommonVO vo);
-
-    /**
-     * 旋转关节
-     */
-    public String speedJ(EdgeSpeedJVO vo);
-
-    /**
-     * 使能开
-     */
-    public String torqueOn(EdgeCommonVO vo);
-
-    /**
-     * 使能关
-     */
-    public String torqueOff(EdgeCommonVO vo);
-}

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeArmServiceImpl.java

@@ -0,0 +1,369 @@
+package com.cmvr.edge.client.service.impl;
+
+import cmvr.api.ArmCommand;
+import cmvr.api.ArmServiceGrpc;
+import cmvr.api.Common;
+import cn.hutool.core.util.StrUtil;
+import com.cmvr.common.exception.GlobalException;
+import com.cmvr.edge.client.manage.GrpcServiceManager;
+import com.cmvr.edge.client.model.EdgeCommonVO;
+import com.cmvr.edge.client.service.EdgeArmService;
+import com.cmvr.edge.client.utils.EdgeCommonUtil;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Service;
+
+import java.util.Arrays;
+
+/**
+ * 机械臂服务实现类
+ *
+ * @author cmvr-iot
+ * @since 2026-07-01
+ */
+@Slf4j
+@Service
+@RequiredArgsConstructor
+public class EdgeArmServiceImpl implements EdgeArmService {
+
+    private final GrpcServiceManager grpcServiceManager;
+
+    @Override
+    public Common.CommandHeader.Feedback torqueOff(EdgeCommonVO edgeCommonVO) {
+        ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
+            edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
+        Common.CommandHeader.Request request = EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId());
+        return executeGrpcCall(() -> stub.torqueOff(request));
+    }
+
+    @Override
+    public Common.CommandHeader.Feedback torqueOn(EdgeCommonVO edgeCommonVO) {
+        ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
+            edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
+        Common.CommandHeader.Request request = EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId());
+        return executeGrpcCall(() -> stub.torqueOn(request));
+    }
+
+    @Override
+    public ArmCommand.MoveJ.Response moveJ(EdgeCommonVO edgeCommonVO, double[] target, Double velocity,
+                                            Double acceleration, Double blendRadius,
+                                            double[] jointVelocityLimits, Boolean asynchronous) {
+        if (target == null || target.length == 0) {
+            throw new GlobalException("目标关节位置不能为空");
+        }
+
+        ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
+            edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
+
+        // 构建关节位置命令
+        ArmCommand.JointPositionCommand targetCommand = ArmCommand.JointPositionCommand.newBuilder()
+            .addAllPosition(Arrays.asList(
+                Arrays.stream(target).boxed().toArray(Double[]::new)
+            ))
+            .build();
+
+        // 构建运动选项
+        ArmCommand.MotionOptions.Builder optionsBuilder = ArmCommand.MotionOptions.newBuilder();
+        if (velocity != null) {
+            optionsBuilder.setVelocity(velocity);
+        }
+        if (acceleration != null) {
+            optionsBuilder.setAcceleration(acceleration);
+        }
+        if (blendRadius != null) {
+            optionsBuilder.setBlendRadius(blendRadius);
+        }
+        if (jointVelocityLimits != null && jointVelocityLimits.length > 0) {
+            optionsBuilder.addAllJointVelocityLimits(Arrays.asList(
+                Arrays.stream(jointVelocityLimits).boxed().toArray(Double[]::new)
+            ));
+        }
+        if (asynchronous != null) {
+            optionsBuilder.setAsynchronous(asynchronous);
+        }
+
+        ArmCommand.MoveJ.Request request = ArmCommand.MoveJ.Request.newBuilder()
+            .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
+            .setTarget(targetCommand)
+            .setOptions(optionsBuilder.build())
+            .build();
+
+        return executeGrpcCall(() -> stub.moveJ(request));
+    }
+
+    @Override
+    public ArmCommand.MoveL.Response moveL(EdgeCommonVO edgeCommonVO, double x, double y, double z,
+                                            double rx, double ry, double rz, String frame,
+                                            Double velocity, Double acceleration, Double blendRadius) {
+        ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
+            edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
+
+        // 构建笛卡尔位姿
+        ArmCommand.CartesianPose targetPose = ArmCommand.CartesianPose.newBuilder()
+            .setX(x)
+            .setY(y)
+            .setZ(z)
+            .setRx(rx)
+            .setRy(ry)
+            .setRz(rz)
+            .build();
+
+        // 构建运动选项
+        ArmCommand.MotionOptions.Builder optionsBuilder = ArmCommand.MotionOptions.newBuilder();
+        if (velocity != null) {
+            optionsBuilder.setVelocity(velocity);
+        }
+        if (acceleration != null) {
+            optionsBuilder.setAcceleration(acceleration);
+        }
+        if (blendRadius != null) {
+            optionsBuilder.setBlendRadius(blendRadius);
+        }
+
+        // 确定坐标系类型
+        ArmCommand.ArmFrameType frameType = parseFrameType(frame);
+
+        ArmCommand.MoveL.Request request = ArmCommand.MoveL.Request.newBuilder()
+            .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
+            .setTarget(targetPose)
+            .setOptions(optionsBuilder.build())
+            .setFrame(frameType)
+            .build();
+
+        return executeGrpcCall(() -> stub.moveL(request));
+    }
+
+    @Override
+    public ArmCommand.SpeedJ.Response speedJ(EdgeCommonVO edgeCommonVO, double[] velocities,
+                                              Double acceleration, Double duration) {
+        if (velocities == null || velocities.length == 0) {
+            throw new GlobalException("关节速度数组不能为空");
+        }
+
+        ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
+            edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
+
+        // 构建关节速度命令
+        ArmCommand.JointVelocityCommand velocityCommand = ArmCommand.JointVelocityCommand.newBuilder()
+            .addAllVelocity(Arrays.asList(
+                Arrays.stream(velocities).boxed().toArray(Double[]::new)
+            ))
+            .build();
+
+        ArmCommand.SpeedJ.Request.Builder requestBuilder = ArmCommand.SpeedJ.Request.newBuilder()
+            .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
+            .setVelocity(velocityCommand);
+
+        if (acceleration != null) {
+            requestBuilder.setAcceleration(acceleration);
+        }
+        if (duration != null) {
+            requestBuilder.setDuration(duration);
+        }
+
+        return executeGrpcCall(() -> stub.speedJ(requestBuilder.build()));
+    }
+
+    @Override
+    public ArmCommand.SpeedL.Response speedL(EdgeCommonVO edgeCommonVO, double vx, double vy, double vz,
+                                              double wx, double wy, double wz, String frame,
+                                              Double acceleration, Double duration) {
+        ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
+            edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
+
+        // 构建笛卡尔速度
+        ArmCommand.CartesianVelocity velocity = ArmCommand.CartesianVelocity.newBuilder()
+            .setVx(vx)
+            .setVy(vy)
+            .setVz(vz)
+            .setWx(wx)
+            .setWy(wy)
+            .setWz(wz)
+            .build();
+
+        ArmCommand.SpeedL.Request.Builder requestBuilder = ArmCommand.SpeedL.Request.newBuilder()
+            .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
+            .setVelocity(velocity);
+
+        if (acceleration != null) {
+            requestBuilder.setAcceleration(acceleration);
+        }
+        if (duration != null) {
+            requestBuilder.setDuration(duration);
+        }
+
+        // 确定坐标系类型
+        ArmCommand.ArmFrameType frameType = parseFrameType(frame);
+        requestBuilder.setFrame(frameType);
+
+        return executeGrpcCall(() -> stub.speedL(requestBuilder.build()));
+    }
+
+    @Override
+    public ArmCommand.ServoJ.Response servoJ(EdgeCommonVO edgeCommonVO, double[] target) {
+        if (target == null || target.length == 0) {
+            throw new GlobalException("目标关节位置不能为空");
+        }
+
+        ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
+            edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
+
+        // 构建关节位置命令
+        ArmCommand.JointPositionCommand targetCommand = ArmCommand.JointPositionCommand.newBuilder()
+            .addAllPosition(Arrays.asList(
+                Arrays.stream(target).boxed().toArray(Double[]::new)
+            ))
+            .build();
+
+        ArmCommand.ServoJ.Request request = ArmCommand.ServoJ.Request.newBuilder()
+            .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
+            .setTarget(targetCommand)
+            .build();
+
+        return executeGrpcCall(() -> stub.servoJ(request));
+    }
+
+    @Override
+    public Common.CommandHeader.Feedback stopMotion(EdgeCommonVO edgeCommonVO) {
+        ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
+            edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
+        Common.CommandHeader.Request request = EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId());
+        return executeGrpcCall(() -> stub.stopMotion(request));
+    }
+
+    @Override
+    public ArmCommand.JointResponse getJointState(EdgeCommonVO edgeCommonVO) {
+        ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
+            edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
+        ArmCommand.JointRequest request = ArmCommand.JointRequest.newBuilder()
+            .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
+            .build();
+        return executeGrpcCall(() -> stub.getJointState(request));
+    }
+
+    @Override
+    public ArmCommand.GetPose.Response getPose(EdgeCommonVO edgeCommonVO, String baseLink, String eeLink) {
+        ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
+            edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
+
+        ArmCommand.GetPose.Request.Builder requestBuilder = ArmCommand.GetPose.Request.newBuilder()
+            .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()));
+
+        if (StrUtil.isNotBlank(baseLink)) {
+            requestBuilder.setBaseLink(baseLink);
+        }
+        if (StrUtil.isNotBlank(eeLink)) {
+            requestBuilder.setEeLink(eeLink);
+        }
+
+        return executeGrpcCall(() -> stub.getPose(requestBuilder.build()));
+    }
+
+    @Override
+    public ArmCommand.CalibrateZeroQ.Response calibrateZeroQ(EdgeCommonVO edgeCommonVO, String jointName) {
+        ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
+            edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
+
+        ArmCommand.CalibrateZeroQ.Request.Builder requestBuilder = ArmCommand.CalibrateZeroQ.Request.newBuilder()
+            .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()));
+
+        if (StrUtil.isNotBlank(jointName)) {
+            requestBuilder.setJointName(jointName);
+        }
+
+        return executeGrpcCall(() -> stub.calibrateZeroQ(requestBuilder.build()));
+    }
+
+    @Override
+    public ArmCommand.GetPoseMatrix.Response getPoseMatrix(EdgeCommonVO edgeCommonVO, String baseLink, String eeLink) {
+        ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
+            edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
+
+        ArmCommand.GetPoseMatrix.Request.Builder requestBuilder = ArmCommand.GetPoseMatrix.Request.newBuilder()
+            .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()));
+
+        if (StrUtil.isNotBlank(baseLink)) {
+            requestBuilder.setBaseLink(baseLink);
+        }
+        if (StrUtil.isNotBlank(eeLink)) {
+            requestBuilder.setEeLink(eeLink);
+        }
+
+        return executeGrpcCall(() -> stub.getPoseMatrix(requestBuilder.build()));
+    }
+
+    @Override
+    public ArmCommand.ComputeForwardKinematics.Response computeForwardKinematics(EdgeCommonVO edgeCommonVO,
+                                                                                  double[] joints,
+                                                                                  String baseLink,
+                                                                                  String eeLink) {
+        if (joints == null || joints.length == 0) {
+            throw new GlobalException("关节位置数组不能为空");
+        }
+
+        ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
+            edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
+
+        // 构建关节位置命令
+        ArmCommand.JointPositionCommand jointsCommand = ArmCommand.JointPositionCommand.newBuilder()
+            .addAllPosition(Arrays.asList(
+                Arrays.stream(joints).boxed().toArray(Double[]::new)
+            ))
+            .build();
+
+        ArmCommand.ComputeForwardKinematics.Request.Builder requestBuilder = ArmCommand.ComputeForwardKinematics.Request.newBuilder()
+            .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
+            .setJoints(jointsCommand);
+
+        if (StrUtil.isNotBlank(baseLink)) {
+            requestBuilder.setBaseLink(baseLink);
+        }
+        if (StrUtil.isNotBlank(eeLink)) {
+            requestBuilder.setEeLink(eeLink);
+        }
+
+        return executeGrpcCall(() -> stub.computeForwardKinematics(requestBuilder.build()));
+    }
+
+    /**
+     * 解析坐标系类型
+     *
+     * @param frame 坐标系字符串
+     * @return 坐标系枚举
+     */
+    private ArmCommand.ArmFrameType parseFrameType(String frame) {
+        if (StrUtil.isBlank(frame)) {
+            return ArmCommand.ArmFrameType.ARM_FRAME_BASE;
+        }
+
+        switch (frame.toUpperCase()) {
+            case "BASE":
+                return ArmCommand.ArmFrameType.ARM_FRAME_BASE;
+            case "TOOL":
+                return ArmCommand.ArmFrameType.ARM_FRAME_TOOL;
+            case "WORLD":
+                return ArmCommand.ArmFrameType.ARM_FRAME_WORLD;
+            case "USER":
+                return ArmCommand.ArmFrameType.ARM_FRAME_USER;
+            default:
+                log.warn("未知的坐标系类型: {}, 使用默认值 BASE", frame);
+                return ArmCommand.ArmFrameType.ARM_FRAME_BASE;
+        }
+    }
+
+    /**
+     * 执行gRPC调用并处理异常
+     *
+     * @param call gRPC调用
+     * @param <T> 返回类型
+     * @return 调用结果
+     */
+    private <T> T executeGrpcCall(java.util.function.Supplier<T> call) {
+        try {
+            return call.get();
+        } catch (Exception e) {
+            log.error("机械臂 gRPC调用失败", e);
+            throw new GlobalException("机械臂通信失败: " + e.getMessage());
+        }
+    }
+}

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeHumanoidRobotServiceImpl.java

@@ -1,102 +0,0 @@
-package com.cmvr.edge.client.service.impl;
-
-import cmvr.api.Common;
-import cmvr.api.HumanoidRobotCommand;
-import cmvr.api.HumanoidRobotServiceGrpc;
-import com.alibaba.fastjson2.JSON;
-import com.cmvr.edge.client.manage.GrpcServiceManager;
-import com.cmvr.edge.client.model.EdgeCommonVO;
-import com.cmvr.edge.client.model.humanoid.EdgeMoveJVO;
-import com.cmvr.edge.client.model.humanoid.EdgeSpeedJVO;
-import com.cmvr.edge.client.service.EdgeHumanoidRobotService;
-import com.cmvr.edge.client.utils.EdgeCommonUtil;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Service;
-
-@Slf4j
-@Service
-@RequiredArgsConstructor
-public class EdgeHumanoidRobotServiceImpl implements EdgeHumanoidRobotService {
-
-    private final GrpcServiceManager grpcServiceManager;
-
-    @Override
-    public String moveJ(EdgeMoveJVO vo) {
-        HumanoidRobotServiceGrpc.HumanoidRobotServiceBlockingStub stub =
-                grpcServiceManager.getGrpcClient(vo.getTerminalId(),
-                        HumanoidRobotServiceGrpc.HumanoidRobotServiceBlockingStub.class);
-
-        Common.CommandHeader.Request header = EdgeCommonUtil.buildRequest(vo.getDeviceId());
-
-        HumanoidRobotCommand.MoveJ.Request.Builder builder = HumanoidRobotCommand.MoveJ.Request.newBuilder()
-                .setHeader(header)
-                .setVel(vo.getVel())
-                .setAcc(vo.getAcc());
-
-        if (vo.getCmds() != null) {
-            for (EdgeMoveJVO.JointCmd j : vo.getCmds()) {
-                builder.addCmds(HumanoidRobotCommand.JointCmd.newBuilder()
-                        .setJointName(j.getJointName())
-                        .setRad(j.getRad())
-                        .setVel(j.getVel())
-                        .build());
-            }
-        }
-
-//        log.info("movej start time={}", System.currentTimeMillis());
-
-        HumanoidRobotCommand.MoveJ.Response response = stub.moveJ(builder.build());
-//        log.info("movej success time={}", System.currentTimeMillis());
-        return JSON.toJSONString(response.getHeader());
-    }
-
-    @Override
-    public String getJointState(EdgeCommonVO vo) {
-        HumanoidRobotServiceGrpc.HumanoidRobotServiceBlockingStub stub =
-                grpcServiceManager.getGrpcClient(vo.getTerminalId(), HumanoidRobotServiceGrpc.HumanoidRobotServiceBlockingStub.class);
-
-        Common.CommandHeader.Request header = EdgeCommonUtil.buildRequest(vo.getDeviceId());
-        HumanoidRobotCommand.JointRequest build = HumanoidRobotCommand.JointRequest.newBuilder()
-                .setHeader(header)
-                .build();
-        HumanoidRobotCommand.JointResponse response = stub.getJointState(build);
-        return JSON.toJSONString(response.getStateList());
-    }
-
-    @Override
-    public String speedJ(EdgeSpeedJVO vo) {
-        HumanoidRobotServiceGrpc.HumanoidRobotServiceBlockingStub stub =
-                grpcServiceManager.getGrpcClient(vo.getTerminalId(), HumanoidRobotServiceGrpc.HumanoidRobotServiceBlockingStub.class);
-
-        Common.CommandHeader.Request header = EdgeCommonUtil.buildRequest(vo.getDeviceId());
-        HumanoidRobotCommand.SpeedJ.Request request = HumanoidRobotCommand.SpeedJ.Request.newBuilder()
-                .setHeader(header)
-                .setAcc(vo.getAcc())
-                .setVel(vo.getVel())
-                .setDir(vo.getDir())
-                .build();
-        HumanoidRobotCommand.SpeedJ.Response response = stub.speedJ(request);
-        return JSON.toJSONString(response.getHeader());
-    }
-
-    @Override
-    public String torqueOn(EdgeCommonVO vo) {
-        HumanoidRobotServiceGrpc.HumanoidRobotServiceBlockingStub stub =
-                grpcServiceManager.getGrpcClient(vo.getTerminalId(), HumanoidRobotServiceGrpc.HumanoidRobotServiceBlockingStub.class);
-
-        Common.CommandHeader.Request header = EdgeCommonUtil.buildRequest(vo.getDeviceId());
-        Common.CommandHeader.Feedback response = stub.torqueOn(header);
-        return JSON.toJSONString(response);
-    }
-
-    @Override
-    public String torqueOff(EdgeCommonVO vo) {
-        HumanoidRobotServiceGrpc.HumanoidRobotServiceBlockingStub stub =
-                grpcServiceManager.getGrpcClient(vo.getTerminalId(), HumanoidRobotServiceGrpc.HumanoidRobotServiceBlockingStub.class);
-
-        Common.CommandHeader.Request header = EdgeCommonUtil.buildRequest(vo.getDeviceId());
-        Common.CommandHeader.Feedback response = stub.torqueOff(header);
-        return JSON.toJSONString(response);
-    }
-}

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/ArmServiceOuterClass.java

@@ -0,0 +1,66 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: cmvr/api/arm_service.proto
+
+package cmvr.api;
+
+public final class ArmServiceOuterClass {
+  private ArmServiceOuterClass() {}
+  public static void registerAllExtensions(
+      com.google.protobuf.ExtensionRegistryLite registry) {
+  }
+
+  public static void registerAllExtensions(
+      com.google.protobuf.ExtensionRegistry registry) {
+    registerAllExtensions(
+        (com.google.protobuf.ExtensionRegistryLite) registry);
+  }
+
+  public static com.google.protobuf.Descriptors.FileDescriptor
+      getDescriptor() {
+    return descriptor;
+  }
+  private static  com.google.protobuf.Descriptors.FileDescriptor
+      descriptor;
+  static {
+    java.lang.String[] descriptorData = {
+      "\n\032cmvr/api/arm_service.proto\022\010cmvr.api\032\025" +
+      "cmvr/api/common.proto\032\032cmvr/api/arm_comm" +
+      "and.proto2\325\007\n\nArmService\022N\n\ttorqueOff\022\037." +
+      "cmvr.api.CommandHeader.Request\032 .cmvr.ap" +
+      "i.CommandHeader.Feedback\022M\n\010torqueOn\022\037.c" +
+      "mvr.api.CommandHeader.Request\032 .cmvr.api" +
+      ".CommandHeader.Feedback\022:\n\005moveJ\022\027.cmvr." +
+      "api.MoveJ.Request\032\030.cmvr.api.MoveJ.Respo" +
+      "nse\022:\n\005moveL\022\027.cmvr.api.MoveL.Request\032\030." +
+      "cmvr.api.MoveL.Response\022=\n\006speedJ\022\030.cmvr" +
+      ".api.SpeedJ.Request\032\031.cmvr.api.SpeedJ.Re" +
+      "sponse\022=\n\006speedL\022\030.cmvr.api.SpeedL.Reque" +
+      "st\032\031.cmvr.api.SpeedL.Response\022=\n\006servoJ\022" +
+      "\030.cmvr.api.ServoJ.Request\032\031.cmvr.api.Ser" +
+      "voJ.Response\022O\n\nstopMotion\022\037.cmvr.api.Co" +
+      "mmandHeader.Request\032 .cmvr.api.CommandHe" +
+      "ader.Feedback\022@\n\rgetJointState\022\026.cmvr.ap" +
+      "i.JointRequest\032\027.cmvr.api.JointResponse\022" +
+      "@\n\007getPose\022\031.cmvr.api.GetPose.Request\032\032." +
+      "cmvr.api.GetPose.Response\022U\n\016calibrateZe" +
+      "roQ\022 .cmvr.api.CalibrateZeroQ.Request\032!." +
+      "cmvr.api.CalibrateZeroQ.Response\022R\n\rgetP" +
+      "oseMatrix\022\037.cmvr.api.GetPoseMatrix.Reque" +
+      "st\032 .cmvr.api.GetPoseMatrix.Response\022s\n\030" +
+      "computeForwardKinematics\022*.cmvr.api.Comp" +
+      "uteForwardKinematics.Request\032+.cmvr.api." +
+      "ComputeForwardKinematics.Responseb\006proto" +
+      "3"
+    };
+    descriptor = com.google.protobuf.Descriptors.FileDescriptor
+      .internalBuildGeneratedFileFrom(descriptorData,
+        new com.google.protobuf.Descriptors.FileDescriptor[] {
+          cmvr.api.Common.getDescriptor(),
+          cmvr.api.ArmCommand.getDescriptor(),
+        });
+    cmvr.api.Common.getDescriptor();
+    cmvr.api.ArmCommand.getDescriptor();
+  }
+
+  // @@protoc_insertion_point(outer_class_scope)
+}

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/HumanoidRobotServiceGrpc.java

@@ -1,720 +0,0 @@
-package cmvr.api;
-
-import static io.grpc.MethodDescriptor.generateFullMethodName;
-
-/**
- */
-@javax.annotation.Generated(
-    value = "by gRPC proto compiler (version 1.52.0)",
-    comments = "Source: cmvr/api/humanoid_robot_service.proto")
-@io.grpc.stub.annotations.GrpcGenerated
-public final class HumanoidRobotServiceGrpc {
-
-  private HumanoidRobotServiceGrpc() {}
-
-  public static final String SERVICE_NAME = "cmvr.api.HumanoidRobotService";
-
-  // Static method descriptors that strictly reflect the proto.
-  private static volatile io.grpc.MethodDescriptor<cmvr.api.Common.CommandHeader.Request,
-      cmvr.api.Common.CommandHeader.Feedback> getTorqueOffMethod;
-
-  @io.grpc.stub.annotations.RpcMethod(
-      fullMethodName = SERVICE_NAME + '/' + "torqueOff",
-      requestType = cmvr.api.Common.CommandHeader.Request.class,
-      responseType = cmvr.api.Common.CommandHeader.Feedback.class,
-      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
-  public static io.grpc.MethodDescriptor<cmvr.api.Common.CommandHeader.Request,
-      cmvr.api.Common.CommandHeader.Feedback> getTorqueOffMethod() {
-    io.grpc.MethodDescriptor<cmvr.api.Common.CommandHeader.Request, cmvr.api.Common.CommandHeader.Feedback> getTorqueOffMethod;
-    if ((getTorqueOffMethod = HumanoidRobotServiceGrpc.getTorqueOffMethod) == null) {
-      synchronized (HumanoidRobotServiceGrpc.class) {
-        if ((getTorqueOffMethod = HumanoidRobotServiceGrpc.getTorqueOffMethod) == null) {
-          HumanoidRobotServiceGrpc.getTorqueOffMethod = getTorqueOffMethod =
-              io.grpc.MethodDescriptor.<cmvr.api.Common.CommandHeader.Request, cmvr.api.Common.CommandHeader.Feedback>newBuilder()
-              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
-              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "torqueOff"))
-              .setSampledToLocalTracing(true)
-              .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
-                  cmvr.api.Common.CommandHeader.Request.getDefaultInstance()))
-              .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
-                  cmvr.api.Common.CommandHeader.Feedback.getDefaultInstance()))
-              .setSchemaDescriptor(new HumanoidRobotServiceMethodDescriptorSupplier("torqueOff"))
-              .build();
-        }
-      }
-    }
-    return getTorqueOffMethod;
-  }
-
-  private static volatile io.grpc.MethodDescriptor<cmvr.api.Common.CommandHeader.Request,
-      cmvr.api.Common.CommandHeader.Feedback> getTorqueOnMethod;
-
-  @io.grpc.stub.annotations.RpcMethod(
-      fullMethodName = SERVICE_NAME + '/' + "torqueOn",
-      requestType = cmvr.api.Common.CommandHeader.Request.class,
-      responseType = cmvr.api.Common.CommandHeader.Feedback.class,
-      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
-  public static io.grpc.MethodDescriptor<cmvr.api.Common.CommandHeader.Request,
-      cmvr.api.Common.CommandHeader.Feedback> getTorqueOnMethod() {
-    io.grpc.MethodDescriptor<cmvr.api.Common.CommandHeader.Request, cmvr.api.Common.CommandHeader.Feedback> getTorqueOnMethod;
-    if ((getTorqueOnMethod = HumanoidRobotServiceGrpc.getTorqueOnMethod) == null) {
-      synchronized (HumanoidRobotServiceGrpc.class) {
-        if ((getTorqueOnMethod = HumanoidRobotServiceGrpc.getTorqueOnMethod) == null) {
-          HumanoidRobotServiceGrpc.getTorqueOnMethod = getTorqueOnMethod =
-              io.grpc.MethodDescriptor.<cmvr.api.Common.CommandHeader.Request, cmvr.api.Common.CommandHeader.Feedback>newBuilder()
-              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
-              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "torqueOn"))
-              .setSampledToLocalTracing(true)
-              .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
-                  cmvr.api.Common.CommandHeader.Request.getDefaultInstance()))
-              .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
-                  cmvr.api.Common.CommandHeader.Feedback.getDefaultInstance()))
-              .setSchemaDescriptor(new HumanoidRobotServiceMethodDescriptorSupplier("torqueOn"))
-              .build();
-        }
-      }
-    }
-    return getTorqueOnMethod;
-  }
-
-  private static volatile io.grpc.MethodDescriptor<cmvr.api.HumanoidRobotCommand.MoveJ.Request,
-      cmvr.api.HumanoidRobotCommand.MoveJ.Response> getMoveJMethod;
-
-  @io.grpc.stub.annotations.RpcMethod(
-      fullMethodName = SERVICE_NAME + '/' + "moveJ",
-      requestType = cmvr.api.HumanoidRobotCommand.MoveJ.Request.class,
-      responseType = cmvr.api.HumanoidRobotCommand.MoveJ.Response.class,
-      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
-  public static io.grpc.MethodDescriptor<cmvr.api.HumanoidRobotCommand.MoveJ.Request,
-      cmvr.api.HumanoidRobotCommand.MoveJ.Response> getMoveJMethod() {
-    io.grpc.MethodDescriptor<cmvr.api.HumanoidRobotCommand.MoveJ.Request, cmvr.api.HumanoidRobotCommand.MoveJ.Response> getMoveJMethod;
-    if ((getMoveJMethod = HumanoidRobotServiceGrpc.getMoveJMethod) == null) {
-      synchronized (HumanoidRobotServiceGrpc.class) {
-        if ((getMoveJMethod = HumanoidRobotServiceGrpc.getMoveJMethod) == null) {
-          HumanoidRobotServiceGrpc.getMoveJMethod = getMoveJMethod =
-              io.grpc.MethodDescriptor.<cmvr.api.HumanoidRobotCommand.MoveJ.Request, cmvr.api.HumanoidRobotCommand.MoveJ.Response>newBuilder()
-              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
-              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "moveJ"))
-              .setSampledToLocalTracing(true)
-              .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
-                  cmvr.api.HumanoidRobotCommand.MoveJ.Request.getDefaultInstance()))
-              .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
-                  cmvr.api.HumanoidRobotCommand.MoveJ.Response.getDefaultInstance()))
-              .setSchemaDescriptor(new HumanoidRobotServiceMethodDescriptorSupplier("moveJ"))
-              .build();
-        }
-      }
-    }
-    return getMoveJMethod;
-  }
-
-  private static volatile io.grpc.MethodDescriptor<cmvr.api.HumanoidRobotCommand.MoveL.Request,
-      cmvr.api.HumanoidRobotCommand.MoveL.Response> getMoveLMethod;
-
-  @io.grpc.stub.annotations.RpcMethod(
-      fullMethodName = SERVICE_NAME + '/' + "moveL",
-      requestType = cmvr.api.HumanoidRobotCommand.MoveL.Request.class,
-      responseType = cmvr.api.HumanoidRobotCommand.MoveL.Response.class,
-      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
-  public static io.grpc.MethodDescriptor<cmvr.api.HumanoidRobotCommand.MoveL.Request,
-      cmvr.api.HumanoidRobotCommand.MoveL.Response> getMoveLMethod() {
-    io.grpc.MethodDescriptor<cmvr.api.HumanoidRobotCommand.MoveL.Request, cmvr.api.HumanoidRobotCommand.MoveL.Response> getMoveLMethod;
-    if ((getMoveLMethod = HumanoidRobotServiceGrpc.getMoveLMethod) == null) {
-      synchronized (HumanoidRobotServiceGrpc.class) {
-        if ((getMoveLMethod = HumanoidRobotServiceGrpc.getMoveLMethod) == null) {
-          HumanoidRobotServiceGrpc.getMoveLMethod = getMoveLMethod =
-              io.grpc.MethodDescriptor.<cmvr.api.HumanoidRobotCommand.MoveL.Request, cmvr.api.HumanoidRobotCommand.MoveL.Response>newBuilder()
-              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
-              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "moveL"))
-              .setSampledToLocalTracing(true)
-              .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
-                  cmvr.api.HumanoidRobotCommand.MoveL.Request.getDefaultInstance()))
-              .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
-                  cmvr.api.HumanoidRobotCommand.MoveL.Response.getDefaultInstance()))
-              .setSchemaDescriptor(new HumanoidRobotServiceMethodDescriptorSupplier("moveL"))
-              .build();
-        }
-      }
-    }
-    return getMoveLMethod;
-  }
-
-  private static volatile io.grpc.MethodDescriptor<cmvr.api.HumanoidRobotCommand.SpeedJ.Request,
-      cmvr.api.HumanoidRobotCommand.SpeedJ.Response> getSpeedJMethod;
-
-  @io.grpc.stub.annotations.RpcMethod(
-      fullMethodName = SERVICE_NAME + '/' + "speedJ",
-      requestType = cmvr.api.HumanoidRobotCommand.SpeedJ.Request.class,
-      responseType = cmvr.api.HumanoidRobotCommand.SpeedJ.Response.class,
-      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
-  public static io.grpc.MethodDescriptor<cmvr.api.HumanoidRobotCommand.SpeedJ.Request,
-      cmvr.api.HumanoidRobotCommand.SpeedJ.Response> getSpeedJMethod() {
-    io.grpc.MethodDescriptor<cmvr.api.HumanoidRobotCommand.SpeedJ.Request, cmvr.api.HumanoidRobotCommand.SpeedJ.Response> getSpeedJMethod;
-    if ((getSpeedJMethod = HumanoidRobotServiceGrpc.getSpeedJMethod) == null) {
-      synchronized (HumanoidRobotServiceGrpc.class) {
-        if ((getSpeedJMethod = HumanoidRobotServiceGrpc.getSpeedJMethod) == null) {
-          HumanoidRobotServiceGrpc.getSpeedJMethod = getSpeedJMethod =
-              io.grpc.MethodDescriptor.<cmvr.api.HumanoidRobotCommand.SpeedJ.Request, cmvr.api.HumanoidRobotCommand.SpeedJ.Response>newBuilder()
-              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
-              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "speedJ"))
-              .setSampledToLocalTracing(true)
-              .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
-                  cmvr.api.HumanoidRobotCommand.SpeedJ.Request.getDefaultInstance()))
-              .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
-                  cmvr.api.HumanoidRobotCommand.SpeedJ.Response.getDefaultInstance()))
-              .setSchemaDescriptor(new HumanoidRobotServiceMethodDescriptorSupplier("speedJ"))
-              .build();
-        }
-      }
-    }
-    return getSpeedJMethod;
-  }
-
-  private static volatile io.grpc.MethodDescriptor<cmvr.api.HumanoidRobotCommand.SpeedL.Request,
-      cmvr.api.HumanoidRobotCommand.SpeedL.Response> getSpeedLMethod;
-
-  @io.grpc.stub.annotations.RpcMethod(
-      fullMethodName = SERVICE_NAME + '/' + "speedL",
-      requestType = cmvr.api.HumanoidRobotCommand.SpeedL.Request.class,
-      responseType = cmvr.api.HumanoidRobotCommand.SpeedL.Response.class,
-      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
-  public static io.grpc.MethodDescriptor<cmvr.api.HumanoidRobotCommand.SpeedL.Request,
-      cmvr.api.HumanoidRobotCommand.SpeedL.Response> getSpeedLMethod() {
-    io.grpc.MethodDescriptor<cmvr.api.HumanoidRobotCommand.SpeedL.Request, cmvr.api.HumanoidRobotCommand.SpeedL.Response> getSpeedLMethod;
-    if ((getSpeedLMethod = HumanoidRobotServiceGrpc.getSpeedLMethod) == null) {
-      synchronized (HumanoidRobotServiceGrpc.class) {
-        if ((getSpeedLMethod = HumanoidRobotServiceGrpc.getSpeedLMethod) == null) {
-          HumanoidRobotServiceGrpc.getSpeedLMethod = getSpeedLMethod =
-              io.grpc.MethodDescriptor.<cmvr.api.HumanoidRobotCommand.SpeedL.Request, cmvr.api.HumanoidRobotCommand.SpeedL.Response>newBuilder()
-              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
-              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "speedL"))
-              .setSampledToLocalTracing(true)
-              .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
-                  cmvr.api.HumanoidRobotCommand.SpeedL.Request.getDefaultInstance()))
-              .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
-                  cmvr.api.HumanoidRobotCommand.SpeedL.Response.getDefaultInstance()))
-              .setSchemaDescriptor(new HumanoidRobotServiceMethodDescriptorSupplier("speedL"))
-              .build();
-        }
-      }
-    }
-    return getSpeedLMethod;
-  }
-
-  private static volatile io.grpc.MethodDescriptor<cmvr.api.HumanoidRobotCommand.JointRequest,
-      cmvr.api.HumanoidRobotCommand.JointResponse> getGetJointStateMethod;
-
-  @io.grpc.stub.annotations.RpcMethod(
-      fullMethodName = SERVICE_NAME + '/' + "getJointState",
-      requestType = cmvr.api.HumanoidRobotCommand.JointRequest.class,
-      responseType = cmvr.api.HumanoidRobotCommand.JointResponse.class,
-      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
-  public static io.grpc.MethodDescriptor<cmvr.api.HumanoidRobotCommand.JointRequest,
-      cmvr.api.HumanoidRobotCommand.JointResponse> getGetJointStateMethod() {
-    io.grpc.MethodDescriptor<cmvr.api.HumanoidRobotCommand.JointRequest, cmvr.api.HumanoidRobotCommand.JointResponse> getGetJointStateMethod;
-    if ((getGetJointStateMethod = HumanoidRobotServiceGrpc.getGetJointStateMethod) == null) {
-      synchronized (HumanoidRobotServiceGrpc.class) {
-        if ((getGetJointStateMethod = HumanoidRobotServiceGrpc.getGetJointStateMethod) == null) {
-          HumanoidRobotServiceGrpc.getGetJointStateMethod = getGetJointStateMethod =
-              io.grpc.MethodDescriptor.<cmvr.api.HumanoidRobotCommand.JointRequest, cmvr.api.HumanoidRobotCommand.JointResponse>newBuilder()
-              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
-              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "getJointState"))
-              .setSampledToLocalTracing(true)
-              .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
-                  cmvr.api.HumanoidRobotCommand.JointRequest.getDefaultInstance()))
-              .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
-                  cmvr.api.HumanoidRobotCommand.JointResponse.getDefaultInstance()))
-              .setSchemaDescriptor(new HumanoidRobotServiceMethodDescriptorSupplier("getJointState"))
-              .build();
-        }
-      }
-    }
-    return getGetJointStateMethod;
-  }
-
-  /**
-   * Creates a new async stub that supports all call types for the service
-   */
-  public static HumanoidRobotServiceStub newStub(io.grpc.Channel channel) {
-    io.grpc.stub.AbstractStub.StubFactory<HumanoidRobotServiceStub> factory =
-      new io.grpc.stub.AbstractStub.StubFactory<HumanoidRobotServiceStub>() {
-        @java.lang.Override
-        public HumanoidRobotServiceStub newStub(io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
-          return new HumanoidRobotServiceStub(channel, callOptions);
-        }
-      };
-    return HumanoidRobotServiceStub.newStub(factory, channel);
-  }
-
-  /**
-   * Creates a new blocking-style stub that supports unary and streaming output calls on the service
-   */
-  public static HumanoidRobotServiceBlockingStub newBlockingStub(
-      io.grpc.Channel channel) {
-    io.grpc.stub.AbstractStub.StubFactory<HumanoidRobotServiceBlockingStub> factory =
-      new io.grpc.stub.AbstractStub.StubFactory<HumanoidRobotServiceBlockingStub>() {
-        @java.lang.Override
-        public HumanoidRobotServiceBlockingStub newStub(io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
-          return new HumanoidRobotServiceBlockingStub(channel, callOptions);
-        }
-      };
-    return HumanoidRobotServiceBlockingStub.newStub(factory, channel);
-  }
-
-  /**
-   * Creates a new ListenableFuture-style stub that supports unary calls on the service
-   */
-  public static HumanoidRobotServiceFutureStub newFutureStub(
-      io.grpc.Channel channel) {
-    io.grpc.stub.AbstractStub.StubFactory<HumanoidRobotServiceFutureStub> factory =
-      new io.grpc.stub.AbstractStub.StubFactory<HumanoidRobotServiceFutureStub>() {
-        @java.lang.Override
-        public HumanoidRobotServiceFutureStub newStub(io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
-          return new HumanoidRobotServiceFutureStub(channel, callOptions);
-        }
-      };
-    return HumanoidRobotServiceFutureStub.newStub(factory, channel);
-  }
-
-  /**
-   */
-  public static abstract class HumanoidRobotServiceImplBase implements io.grpc.BindableService {
-
-    /**
-     */
-    public void torqueOff(cmvr.api.Common.CommandHeader.Request request,
-        io.grpc.stub.StreamObserver<cmvr.api.Common.CommandHeader.Feedback> responseObserver) {
-      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getTorqueOffMethod(), responseObserver);
-    }
-
-    /**
-     */
-    public void torqueOn(cmvr.api.Common.CommandHeader.Request request,
-        io.grpc.stub.StreamObserver<cmvr.api.Common.CommandHeader.Feedback> responseObserver) {
-      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getTorqueOnMethod(), responseObserver);
-    }
-
-    /**
-     */
-    public void moveJ(cmvr.api.HumanoidRobotCommand.MoveJ.Request request,
-        io.grpc.stub.StreamObserver<cmvr.api.HumanoidRobotCommand.MoveJ.Response> responseObserver) {
-      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getMoveJMethod(), responseObserver);
-    }
-
-    /**
-     */
-    public void moveL(cmvr.api.HumanoidRobotCommand.MoveL.Request request,
-        io.grpc.stub.StreamObserver<cmvr.api.HumanoidRobotCommand.MoveL.Response> responseObserver) {
-      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getMoveLMethod(), responseObserver);
-    }
-
-    /**
-     */
-    public void speedJ(cmvr.api.HumanoidRobotCommand.SpeedJ.Request request,
-        io.grpc.stub.StreamObserver<cmvr.api.HumanoidRobotCommand.SpeedJ.Response> responseObserver) {
-      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getSpeedJMethod(), responseObserver);
-    }
-
-    /**
-     */
-    public void speedL(cmvr.api.HumanoidRobotCommand.SpeedL.Request request,
-        io.grpc.stub.StreamObserver<cmvr.api.HumanoidRobotCommand.SpeedL.Response> responseObserver) {
-      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getSpeedLMethod(), responseObserver);
-    }
-
-    /**
-     */
-    public void getJointState(cmvr.api.HumanoidRobotCommand.JointRequest request,
-        io.grpc.stub.StreamObserver<cmvr.api.HumanoidRobotCommand.JointResponse> responseObserver) {
-      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getGetJointStateMethod(), responseObserver);
-    }
-
-    @java.lang.Override public final io.grpc.ServerServiceDefinition bindService() {
-      return io.grpc.ServerServiceDefinition.builder(getServiceDescriptor())
-          .addMethod(
-            getTorqueOffMethod(),
-            io.grpc.stub.ServerCalls.asyncUnaryCall(
-              new MethodHandlers<
-                cmvr.api.Common.CommandHeader.Request,
-                cmvr.api.Common.CommandHeader.Feedback>(
-                  this, METHODID_TORQUE_OFF)))
-          .addMethod(
-            getTorqueOnMethod(),
-            io.grpc.stub.ServerCalls.asyncUnaryCall(
-              new MethodHandlers<
-                cmvr.api.Common.CommandHeader.Request,
-                cmvr.api.Common.CommandHeader.Feedback>(
-                  this, METHODID_TORQUE_ON)))
-          .addMethod(
-            getMoveJMethod(),
-            io.grpc.stub.ServerCalls.asyncUnaryCall(
-              new MethodHandlers<
-                cmvr.api.HumanoidRobotCommand.MoveJ.Request,
-                cmvr.api.HumanoidRobotCommand.MoveJ.Response>(
-                  this, METHODID_MOVE_J)))
-          .addMethod(
-            getMoveLMethod(),
-            io.grpc.stub.ServerCalls.asyncUnaryCall(
-              new MethodHandlers<
-                cmvr.api.HumanoidRobotCommand.MoveL.Request,
-                cmvr.api.HumanoidRobotCommand.MoveL.Response>(
-                  this, METHODID_MOVE_L)))
-          .addMethod(
-            getSpeedJMethod(),
-            io.grpc.stub.ServerCalls.asyncUnaryCall(
-              new MethodHandlers<
-                cmvr.api.HumanoidRobotCommand.SpeedJ.Request,
-                cmvr.api.HumanoidRobotCommand.SpeedJ.Response>(
-                  this, METHODID_SPEED_J)))
-          .addMethod(
-            getSpeedLMethod(),
-            io.grpc.stub.ServerCalls.asyncUnaryCall(
-              new MethodHandlers<
-                cmvr.api.HumanoidRobotCommand.SpeedL.Request,
-                cmvr.api.HumanoidRobotCommand.SpeedL.Response>(
-                  this, METHODID_SPEED_L)))
-          .addMethod(
-            getGetJointStateMethod(),
-            io.grpc.stub.ServerCalls.asyncUnaryCall(
-              new MethodHandlers<
-                cmvr.api.HumanoidRobotCommand.JointRequest,
-                cmvr.api.HumanoidRobotCommand.JointResponse>(
-                  this, METHODID_GET_JOINT_STATE)))
-          .build();
-    }
-  }
-
-  /**
-   */
-  public static final class HumanoidRobotServiceStub extends io.grpc.stub.AbstractAsyncStub<HumanoidRobotServiceStub> {
-    private HumanoidRobotServiceStub(
-        io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
-      super(channel, callOptions);
-    }
-
-    @java.lang.Override
-    protected HumanoidRobotServiceStub build(
-        io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
-      return new HumanoidRobotServiceStub(channel, callOptions);
-    }
-
-    /**
-     */
-    public void torqueOff(cmvr.api.Common.CommandHeader.Request request,
-        io.grpc.stub.StreamObserver<cmvr.api.Common.CommandHeader.Feedback> responseObserver) {
-      io.grpc.stub.ClientCalls.asyncUnaryCall(
-          getChannel().newCall(getTorqueOffMethod(), getCallOptions()), request, responseObserver);
-    }
-
-    /**
-     */
-    public void torqueOn(cmvr.api.Common.CommandHeader.Request request,
-        io.grpc.stub.StreamObserver<cmvr.api.Common.CommandHeader.Feedback> responseObserver) {
-      io.grpc.stub.ClientCalls.asyncUnaryCall(
-          getChannel().newCall(getTorqueOnMethod(), getCallOptions()), request, responseObserver);
-    }
-
-    /**
-     */
-    public void moveJ(cmvr.api.HumanoidRobotCommand.MoveJ.Request request,
-        io.grpc.stub.StreamObserver<cmvr.api.HumanoidRobotCommand.MoveJ.Response> responseObserver) {
-      io.grpc.stub.ClientCalls.asyncUnaryCall(
-          getChannel().newCall(getMoveJMethod(), getCallOptions()), request, responseObserver);
-    }
-
-    /**
-     */
-    public void moveL(cmvr.api.HumanoidRobotCommand.MoveL.Request request,
-        io.grpc.stub.StreamObserver<cmvr.api.HumanoidRobotCommand.MoveL.Response> responseObserver) {
-      io.grpc.stub.ClientCalls.asyncUnaryCall(
-          getChannel().newCall(getMoveLMethod(), getCallOptions()), request, responseObserver);
-    }
-
-    /**
-     */
-    public void speedJ(cmvr.api.HumanoidRobotCommand.SpeedJ.Request request,
-        io.grpc.stub.StreamObserver<cmvr.api.HumanoidRobotCommand.SpeedJ.Response> responseObserver) {
-      io.grpc.stub.ClientCalls.asyncUnaryCall(
-          getChannel().newCall(getSpeedJMethod(), getCallOptions()), request, responseObserver);
-    }
-
-    /**
-     */
-    public void speedL(cmvr.api.HumanoidRobotCommand.SpeedL.Request request,
-        io.grpc.stub.StreamObserver<cmvr.api.HumanoidRobotCommand.SpeedL.Response> responseObserver) {
-      io.grpc.stub.ClientCalls.asyncUnaryCall(
-          getChannel().newCall(getSpeedLMethod(), getCallOptions()), request, responseObserver);
-    }
-
-    /**
-     */
-    public void getJointState(cmvr.api.HumanoidRobotCommand.JointRequest request,
-        io.grpc.stub.StreamObserver<cmvr.api.HumanoidRobotCommand.JointResponse> responseObserver) {
-      io.grpc.stub.ClientCalls.asyncUnaryCall(
-          getChannel().newCall(getGetJointStateMethod(), getCallOptions()), request, responseObserver);
-    }
-  }
-
-  /**
-   */
-  public static final class HumanoidRobotServiceBlockingStub extends io.grpc.stub.AbstractBlockingStub<HumanoidRobotServiceBlockingStub> {
-    private HumanoidRobotServiceBlockingStub(
-        io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
-      super(channel, callOptions);
-    }
-
-    @java.lang.Override
-    protected HumanoidRobotServiceBlockingStub build(
-        io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
-      return new HumanoidRobotServiceBlockingStub(channel, callOptions);
-    }
-
-    /**
-     */
-    public cmvr.api.Common.CommandHeader.Feedback torqueOff(cmvr.api.Common.CommandHeader.Request request) {
-      return io.grpc.stub.ClientCalls.blockingUnaryCall(
-          getChannel(), getTorqueOffMethod(), getCallOptions(), request);
-    }
-
-    /**
-     */
-    public cmvr.api.Common.CommandHeader.Feedback torqueOn(cmvr.api.Common.CommandHeader.Request request) {
-      return io.grpc.stub.ClientCalls.blockingUnaryCall(
-          getChannel(), getTorqueOnMethod(), getCallOptions(), request);
-    }
-
-    /**
-     */
-    public cmvr.api.HumanoidRobotCommand.MoveJ.Response moveJ(cmvr.api.HumanoidRobotCommand.MoveJ.Request request) {
-      return io.grpc.stub.ClientCalls.blockingUnaryCall(
-          getChannel(), getMoveJMethod(), getCallOptions(), request);
-    }
-
-    /**
-     */
-    public cmvr.api.HumanoidRobotCommand.MoveL.Response moveL(cmvr.api.HumanoidRobotCommand.MoveL.Request request) {
-      return io.grpc.stub.ClientCalls.blockingUnaryCall(
-          getChannel(), getMoveLMethod(), getCallOptions(), request);
-    }
-
-    /**
-     */
-    public cmvr.api.HumanoidRobotCommand.SpeedJ.Response speedJ(cmvr.api.HumanoidRobotCommand.SpeedJ.Request request) {
-      return io.grpc.stub.ClientCalls.blockingUnaryCall(
-          getChannel(), getSpeedJMethod(), getCallOptions(), request);
-    }
-
-    /**
-     */
-    public cmvr.api.HumanoidRobotCommand.SpeedL.Response speedL(cmvr.api.HumanoidRobotCommand.SpeedL.Request request) {
-      return io.grpc.stub.ClientCalls.blockingUnaryCall(
-          getChannel(), getSpeedLMethod(), getCallOptions(), request);
-    }
-
-    /**
-     */
-    public cmvr.api.HumanoidRobotCommand.JointResponse getJointState(cmvr.api.HumanoidRobotCommand.JointRequest request) {
-      return io.grpc.stub.ClientCalls.blockingUnaryCall(
-          getChannel(), getGetJointStateMethod(), getCallOptions(), request);
-    }
-  }
-
-  /**
-   */
-  public static final class HumanoidRobotServiceFutureStub extends io.grpc.stub.AbstractFutureStub<HumanoidRobotServiceFutureStub> {
-    private HumanoidRobotServiceFutureStub(
-        io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
-      super(channel, callOptions);
-    }
-
-    @java.lang.Override
-    protected HumanoidRobotServiceFutureStub build(
-        io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
-      return new HumanoidRobotServiceFutureStub(channel, callOptions);
-    }
-
-    /**
-     */
-    public com.google.common.util.concurrent.ListenableFuture<cmvr.api.Common.CommandHeader.Feedback> torqueOff(
-        cmvr.api.Common.CommandHeader.Request request) {
-      return io.grpc.stub.ClientCalls.futureUnaryCall(
-          getChannel().newCall(getTorqueOffMethod(), getCallOptions()), request);
-    }
-
-    /**
-     */
-    public com.google.common.util.concurrent.ListenableFuture<cmvr.api.Common.CommandHeader.Feedback> torqueOn(
-        cmvr.api.Common.CommandHeader.Request request) {
-      return io.grpc.stub.ClientCalls.futureUnaryCall(
-          getChannel().newCall(getTorqueOnMethod(), getCallOptions()), request);
-    }
-
-    /**
-     */
-    public com.google.common.util.concurrent.ListenableFuture<cmvr.api.HumanoidRobotCommand.MoveJ.Response> moveJ(
-        cmvr.api.HumanoidRobotCommand.MoveJ.Request request) {
-      return io.grpc.stub.ClientCalls.futureUnaryCall(
-          getChannel().newCall(getMoveJMethod(), getCallOptions()), request);
-    }
-
-    /**
-     */
-    public com.google.common.util.concurrent.ListenableFuture<cmvr.api.HumanoidRobotCommand.MoveL.Response> moveL(
-        cmvr.api.HumanoidRobotCommand.MoveL.Request request) {
-      return io.grpc.stub.ClientCalls.futureUnaryCall(
-          getChannel().newCall(getMoveLMethod(), getCallOptions()), request);
-    }
-
-    /**
-     */
-    public com.google.common.util.concurrent.ListenableFuture<cmvr.api.HumanoidRobotCommand.SpeedJ.Response> speedJ(
-        cmvr.api.HumanoidRobotCommand.SpeedJ.Request request) {
-      return io.grpc.stub.ClientCalls.futureUnaryCall(
-          getChannel().newCall(getSpeedJMethod(), getCallOptions()), request);
-    }
-
-    /**
-     */
-    public com.google.common.util.concurrent.ListenableFuture<cmvr.api.HumanoidRobotCommand.SpeedL.Response> speedL(
-        cmvr.api.HumanoidRobotCommand.SpeedL.Request request) {
-      return io.grpc.stub.ClientCalls.futureUnaryCall(
-          getChannel().newCall(getSpeedLMethod(), getCallOptions()), request);
-    }
-
-    /**
-     */
-    public com.google.common.util.concurrent.ListenableFuture<cmvr.api.HumanoidRobotCommand.JointResponse> getJointState(
-        cmvr.api.HumanoidRobotCommand.JointRequest request) {
-      return io.grpc.stub.ClientCalls.futureUnaryCall(
-          getChannel().newCall(getGetJointStateMethod(), getCallOptions()), request);
-    }
-  }
-
-  private static final int METHODID_TORQUE_OFF = 0;
-  private static final int METHODID_TORQUE_ON = 1;
-  private static final int METHODID_MOVE_J = 2;
-  private static final int METHODID_MOVE_L = 3;
-  private static final int METHODID_SPEED_J = 4;
-  private static final int METHODID_SPEED_L = 5;
-  private static final int METHODID_GET_JOINT_STATE = 6;
-
-  private static final class MethodHandlers<Req, Resp> implements
-      io.grpc.stub.ServerCalls.UnaryMethod<Req, Resp>,
-      io.grpc.stub.ServerCalls.ServerStreamingMethod<Req, Resp>,
-      io.grpc.stub.ServerCalls.ClientStreamingMethod<Req, Resp>,
-      io.grpc.stub.ServerCalls.BidiStreamingMethod<Req, Resp> {
-    private final HumanoidRobotServiceImplBase serviceImpl;
-    private final int methodId;
-
-    MethodHandlers(HumanoidRobotServiceImplBase serviceImpl, int methodId) {
-      this.serviceImpl = serviceImpl;
-      this.methodId = methodId;
-    }
-
-    @java.lang.Override
-    @java.lang.SuppressWarnings("unchecked")
-    public void invoke(Req request, io.grpc.stub.StreamObserver<Resp> responseObserver) {
-      switch (methodId) {
-        case METHODID_TORQUE_OFF:
-          serviceImpl.torqueOff((cmvr.api.Common.CommandHeader.Request) request,
-              (io.grpc.stub.StreamObserver<cmvr.api.Common.CommandHeader.Feedback>) responseObserver);
-          break;
-        case METHODID_TORQUE_ON:
-          serviceImpl.torqueOn((cmvr.api.Common.CommandHeader.Request) request,
-              (io.grpc.stub.StreamObserver<cmvr.api.Common.CommandHeader.Feedback>) responseObserver);
-          break;
-        case METHODID_MOVE_J:
-          serviceImpl.moveJ((cmvr.api.HumanoidRobotCommand.MoveJ.Request) request,
-              (io.grpc.stub.StreamObserver<cmvr.api.HumanoidRobotCommand.MoveJ.Response>) responseObserver);
-          break;
-        case METHODID_MOVE_L:
-          serviceImpl.moveL((cmvr.api.HumanoidRobotCommand.MoveL.Request) request,
-              (io.grpc.stub.StreamObserver<cmvr.api.HumanoidRobotCommand.MoveL.Response>) responseObserver);
-          break;
-        case METHODID_SPEED_J:
-          serviceImpl.speedJ((cmvr.api.HumanoidRobotCommand.SpeedJ.Request) request,
-              (io.grpc.stub.StreamObserver<cmvr.api.HumanoidRobotCommand.SpeedJ.Response>) responseObserver);
-          break;
-        case METHODID_SPEED_L:
-          serviceImpl.speedL((cmvr.api.HumanoidRobotCommand.SpeedL.Request) request,
-              (io.grpc.stub.StreamObserver<cmvr.api.HumanoidRobotCommand.SpeedL.Response>) responseObserver);
-          break;
-        case METHODID_GET_JOINT_STATE:
-          serviceImpl.getJointState((cmvr.api.HumanoidRobotCommand.JointRequest) request,
-              (io.grpc.stub.StreamObserver<cmvr.api.HumanoidRobotCommand.JointResponse>) responseObserver);
-          break;
-        default:
-          throw new AssertionError();
-      }
-    }
-
-    @java.lang.Override
-    @java.lang.SuppressWarnings("unchecked")
-    public io.grpc.stub.StreamObserver<Req> invoke(
-        io.grpc.stub.StreamObserver<Resp> responseObserver) {
-      switch (methodId) {
-        default:
-          throw new AssertionError();
-      }
-    }
-  }
-
-  private static abstract class HumanoidRobotServiceBaseDescriptorSupplier
-      implements io.grpc.protobuf.ProtoFileDescriptorSupplier, io.grpc.protobuf.ProtoServiceDescriptorSupplier {
-    HumanoidRobotServiceBaseDescriptorSupplier() {}
-
-    @java.lang.Override
-    public com.google.protobuf.Descriptors.FileDescriptor getFileDescriptor() {
-      return cmvr.api.HumanoidRobotServiceOuterClass.getDescriptor();
-    }
-
-    @java.lang.Override
-    public com.google.protobuf.Descriptors.ServiceDescriptor getServiceDescriptor() {
-      return getFileDescriptor().findServiceByName("HumanoidRobotService");
-    }
-  }
-
-  private static final class HumanoidRobotServiceFileDescriptorSupplier
-      extends HumanoidRobotServiceBaseDescriptorSupplier {
-    HumanoidRobotServiceFileDescriptorSupplier() {}
-  }
-
-  private static final class HumanoidRobotServiceMethodDescriptorSupplier
-      extends HumanoidRobotServiceBaseDescriptorSupplier
-      implements io.grpc.protobuf.ProtoMethodDescriptorSupplier {
-    private final String methodName;
-
-    HumanoidRobotServiceMethodDescriptorSupplier(String methodName) {
-      this.methodName = methodName;
-    }
-
-    @java.lang.Override
-    public com.google.protobuf.Descriptors.MethodDescriptor getMethodDescriptor() {
-      return getServiceDescriptor().findMethodByName(methodName);
-    }
-  }
-
-  private static volatile io.grpc.ServiceDescriptor serviceDescriptor;
-
-  public static io.grpc.ServiceDescriptor getServiceDescriptor() {
-    io.grpc.ServiceDescriptor result = serviceDescriptor;
-    if (result == null) {
-      synchronized (HumanoidRobotServiceGrpc.class) {
-        result = serviceDescriptor;
-        if (result == null) {
-          serviceDescriptor = result = io.grpc.ServiceDescriptor.newBuilder(SERVICE_NAME)
-              .setSchemaDescriptor(new HumanoidRobotServiceFileDescriptorSupplier())
-              .addMethod(getTorqueOffMethod())
-              .addMethod(getTorqueOnMethod())
-              .addMethod(getMoveJMethod())
-              .addMethod(getMoveLMethod())
-              .addMethod(getSpeedJMethod())
-              .addMethod(getSpeedLMethod())
-              .addMethod(getGetJointStateMethod())
-              .build();
-        }
-      }
-    }
-    return result;
-  }
-}

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/HumanoidRobotServiceOuterClass.java

@@ -1,54 +0,0 @@
-// Generated by the protocol buffer compiler.  DO NOT EDIT!
-// source: cmvr/api/humanoid_robot_service.proto
-
-package cmvr.api;
-
-public final class HumanoidRobotServiceOuterClass {
-  private HumanoidRobotServiceOuterClass() {}
-  public static void registerAllExtensions(
-      com.google.protobuf.ExtensionRegistryLite registry) {
-  }
-
-  public static void registerAllExtensions(
-      com.google.protobuf.ExtensionRegistry registry) {
-    registerAllExtensions(
-        (com.google.protobuf.ExtensionRegistryLite) registry);
-  }
-
-  public static com.google.protobuf.Descriptors.FileDescriptor
-      getDescriptor() {
-    return descriptor;
-  }
-  private static  com.google.protobuf.Descriptors.FileDescriptor
-      descriptor;
-  static {
-    java.lang.String[] descriptorData = {
-      "\n%cmvr/api/humanoid_robot_service.proto\022" +
-      "\010cmvr.api\032\025cmvr/api/common.proto\032%cmvr/a" +
-      "pi/humanoid_robot_command.proto2\355\003\n\024Huma" +
-      "noidRobotService\022N\n\ttorqueOff\022\037.cmvr.api" +
-      ".CommandHeader.Request\032 .cmvr.api.Comman" +
-      "dHeader.Feedback\022M\n\010torqueOn\022\037.cmvr.api." +
-      "CommandHeader.Request\032 .cmvr.api.Command" +
-      "Header.Feedback\022:\n\005moveJ\022\027.cmvr.api.Move" +
-      "J.Request\032\030.cmvr.api.MoveJ.Response\022:\n\005m" +
-      "oveL\022\027.cmvr.api.MoveL.Request\032\030.cmvr.api" +
-      ".MoveL.Response\022=\n\006speedJ\022\030.cmvr.api.Spe" +
-      "edJ.Request\032\031.cmvr.api.SpeedJ.Response\022=" +
-      "\n\006speedL\022\030.cmvr.api.SpeedL.Request\032\031.cmv" +
-      "r.api.SpeedL.Response\022@\n\rgetJointState\022\026" +
-      ".cmvr.api.JointRequest\032\027.cmvr.api.JointR" +
-      "esponseb\006proto3"
-    };
-    descriptor = com.google.protobuf.Descriptors.FileDescriptor
-      .internalBuildGeneratedFileFrom(descriptorData,
-        new com.google.protobuf.Descriptors.FileDescriptor[] {
-          cmvr.api.Common.getDescriptor(),
-          cmvr.api.HumanoidRobotCommand.getDescriptor(),
-        });
-    cmvr.api.Common.getDescriptor();
-    cmvr.api.HumanoidRobotCommand.getDescriptor();
-  }
-
-  // @@protoc_insertion_point(outer_class_scope)
-}

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/arm_command.proto

@@ -0,0 +1,185 @@
+syntax = "proto3";
+
+package cmvr.api;
+
+import "cmvr/api/common.proto";
+
+enum ArmFrameType {
+  ARM_FRAME_BASE = 0;
+  ARM_FRAME_TOOL = 1;
+  ARM_FRAME_WORLD = 2;
+  ARM_FRAME_USER = 3;
+}
+
+message JointPositionCommand {
+  repeated double position = 1;
+}
+
+message JointVelocityCommand {
+  repeated double velocity = 1;
+}
+
+message MotionOptions {
+  double velocity = 1;
+  double acceleration = 2;
+  double blend_radius = 3;
+  double jerk = 4;
+  repeated double joint_velocity_limits = 5;
+  bool asynchronous = 6;
+}
+
+message CartesianPose {
+  double x = 1;
+  double y = 2;
+  double z = 3;
+  double rx = 4;
+  double ry = 5;
+  double rz = 6;
+}
+
+message CartesianVelocity {
+  double vx = 1;
+  double vy = 2;
+  double vz = 3;
+  double wx = 4;
+  double wy = 5;
+  double wz = 6;
+}
+
+message TransformMatrix4x4 {
+  double m00 = 1; double m01 = 2; double m02 = 3; double m03 = 4;
+  double m10 = 5; double m11 = 6; double m12 = 7; double m13 = 8;
+  double m20 = 9; double m21 = 10; double m22 = 11; double m23 = 12;
+  double m30 = 13; double m31 = 14; double m32 = 15; double m33 = 16;
+}
+
+message MoveJ {
+  message Request {
+    CommandHeader.Request header = 1;
+    JointPositionCommand target = 2;
+    MotionOptions options = 3;
+  }
+
+  message Response {
+    CommandHeader.Feedback header = 1;
+  }
+}
+
+message MoveL {
+  message Request {
+    CommandHeader.Request header = 1;
+    CartesianPose target = 2;
+    MotionOptions options = 3;
+    ArmFrameType frame = 4;
+  }
+
+  message Response {
+    CommandHeader.Feedback header = 1;
+  }
+}
+
+message SpeedJ {
+  message Request {
+    CommandHeader.Request header = 1;
+    JointVelocityCommand velocity = 2;
+    double acceleration = 3;
+    double duration = 4;
+  }
+
+  message Response {
+    CommandHeader.Feedback header = 1;
+  }
+}
+
+message SpeedL {
+  message Request {
+    CommandHeader.Request header = 1;
+    CartesianVelocity velocity = 2;
+    double acceleration = 3;
+    double duration = 4;
+    ArmFrameType frame = 5;
+  }
+
+  message Response {
+    CommandHeader.Feedback header = 1;
+  }
+}
+
+message ServoJ {
+  message Request {
+    CommandHeader.Request header = 1;
+    JointPositionCommand target = 2;
+  }
+
+  message Response {
+    CommandHeader.Feedback header = 1;
+  }
+}
+
+message JointState {
+  repeated string name = 1;
+  repeated double position = 2;
+  repeated double velocity = 3;
+  repeated double effort = 4;
+  double timestamp = 5;
+}
+
+message JointRequest {
+  CommandHeader.Request header = 1;
+}
+
+message JointResponse {
+  CommandHeader.Feedback header = 1;
+  JointState state = 2;
+}
+
+message GetPose {
+  message Request {
+    CommandHeader.Request header = 1;
+    string base_link = 2;
+    string ee_link = 3;
+  }
+
+  message Response {
+    CommandHeader.Feedback header = 1;
+    CartesianPose pose = 2;
+  }
+}
+
+message CalibrateZeroQ {
+  message Request {
+    CommandHeader.Request header = 1;
+    string joint_name = 2;
+  }
+
+  message Response {
+    CommandHeader.Feedback header = 1;
+  }
+}
+
+message GetPoseMatrix {
+  message Request {
+    CommandHeader.Request header = 1;
+    string base_link = 2;
+    string ee_link = 3;
+  }
+
+  message Response {
+    CommandHeader.Feedback header = 1;
+    TransformMatrix4x4 matrix = 2;
+  }
+}
+
+message ComputeForwardKinematics {
+  message Request {
+    CommandHeader.Request header = 1;
+    string base_link = 2;
+    string ee_link = 3;
+    JointPositionCommand joints = 4;
+  }
+
+  message Response {
+    CommandHeader.Feedback header = 1;
+    TransformMatrix4x4 matrix = 2;
+  }
+}

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/arm_service.proto

@@ -0,0 +1,22 @@
+syntax = "proto3";
+
+package cmvr.api;
+
+import "cmvr/api/common.proto";
+import "cmvr/api/arm_command.proto";
+
+service ArmService {
+  rpc torqueOff(CommandHeader.Request) returns (CommandHeader.Feedback);
+  rpc torqueOn(CommandHeader.Request) returns (CommandHeader.Feedback);
+  rpc moveJ(MoveJ.Request) returns (MoveJ.Response);
+  rpc moveL(MoveL.Request) returns (MoveL.Response);
+  rpc speedJ(SpeedJ.Request) returns (SpeedJ.Response);
+  rpc speedL(SpeedL.Request) returns (SpeedL.Response);
+  rpc servoJ(ServoJ.Request) returns (ServoJ.Response);
+  rpc stopMotion(CommandHeader.Request) returns (CommandHeader.Feedback);
+  rpc getJointState(JointRequest) returns (JointResponse);
+  rpc getPose(GetPose.Request) returns (GetPose.Response);
+  rpc calibrateZeroQ(CalibrateZeroQ.Request) returns (CalibrateZeroQ.Response);
+  rpc getPoseMatrix(GetPoseMatrix.Request) returns (GetPoseMatrix.Response);
+  rpc computeForwardKinematics(ComputeForwardKinematics.Request) returns (ComputeForwardKinematics.Response);
+}

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/humanoid_robot_command.proto

@@ -1,122 +0,0 @@
-
-
-syntax = "proto3";
-package cmvr.api;
-import "cmvr/api/common.proto";
-
-message JointCmd {
-  string joint_name = 1;  // 关节名称
-  double rad = 2;         // 弧度
-  double vel = 3;         // 角速度，rad/s
-}
-
-message Pose3D{
-  double x = 1;
-  double y = 2;
-  double z = 3;
-  double rx = 4;
-  double ry = 5;
-  double rz = 6;
-}
-
-enum RobotCartesian{
-  X = 0;
-  Y = 1;
-  Z = 2;
-  RX = 3;
-  RY = 4;
-  RZ = 5;
-} ;
-enum RobotJointIndexDirection{
-  FORWARD = 0;
-  BACKWARD = 1;
-  X_POSITIVE = 2;   // X轴正向
-  X_NEGATIVE = 3;  // X轴负向
-  Y_POSITIVE = 4;  // Y轴正向
-  Y_NEGATIVE = 5;   // Y轴负向
-  Z_POSITIVE = 6;   // Z轴正向
-  Z_NEGATIVE = 7;   // Z轴负向
-  ROTATE_X = 8;   // 绕X轴旋转
-  ROTATE_Y = 9;    // 绕Y轴旋转
-  ROTATE_Z = 10;     // 绕Z轴旋转
-}
-message MoveJ{
-  message Request{
-    CommandHeader.Request header = 1;
-    repeated JointCmd cmds = 2;
-    double vel = 3;
-    double acc = 4;
-  }
-
-  message Response{
-    CommandHeader.Feedback header= 1;
-  }
-
-}
-
-message MoveL{
-
-  message Request{
-    CommandHeader.Request header = 1;
-    string ee_link = 2; //连杆名称
-    Pose3D targetPose = 3;
-    double vel = 4;
-    double acc = 5;
-  }
-
-  message Response{
-    CommandHeader.Feedback header= 1;
-  }
-
-}
-
-message SpeedJ{
-
-  message Request{
-    CommandHeader.Request header = 1;
-    string joint_name = 2;
-    double vel = 3;
-    double acc = 4;
-    RobotJointIndexDirection dir = 5;
-  }
-
-  message Response{
-    CommandHeader.Feedback header= 1;
-  }
-}
-
-message SpeedL{
-  message Request{
-    CommandHeader.Request header = 1;
-    string ee_link = 2;
-    double vel = 3;
-    double acc = 4;
-    RobotJointIndexDirection dir = 5;
-    RobotCartesian cart = 6;
-  }
-
-  message Response{
-    CommandHeader.Feedback header= 1;
-  }
-}
-
-// 关节状态消息
-message JointState {
-  repeated string name = 1;       // 关节名称
-  repeated double position = 2;   // 关节位置
-  repeated double velocity = 3;   // 可选：关节速度
-  repeated double effort = 4;     // 可选：关节力矩
-  double timestamp = 5;           // 可选：时间戳
-}
-
-// 返回消息
-message JointResponse {
-  CommandHeader.Feedback header= 1;
-  repeated JointState state = 2;
-}
-
-// 请求消息（可选）
-message JointRequest {
-  CommandHeader.Request header = 1;
-}
-

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/humanoid_robot_service.proto

@@ -1,16 +0,0 @@
-
-
-syntax = "proto3";
-package cmvr.api;
-import "cmvr/api/common.proto";
-import "cmvr/api/humanoid_robot_command.proto";
-
-service HumanoidRobotService{
-  rpc torqueOff(CommandHeader.Request) returns (CommandHeader.Feedback);
-  rpc torqueOn(CommandHeader.Request) returns (CommandHeader.Feedback);
-  rpc moveJ(MoveJ.Request) returns (MoveJ.Response);
-  rpc moveL(MoveL.Request) returns (MoveL.Response);
-  rpc speedJ(SpeedJ.Request) returns (SpeedJ.Response);
-  rpc speedL(SpeedL.Request) returns (SpeedL.Response);
-  rpc getJointState(JointRequest) returns (JointResponse);
-}

cmvr-iot-test/src/main/java/com/cmvr/test/enums/ActionEnum.java

@@ -57,6 +57,8 @@ public enum ActionEnum {
 
     // ---------------机械臂---------------
     TOUCH("EDGE", "TOUCH", "触控"),
+    // 末端运动
+    ARM_MOVE_TO_POINT("EDGE", "ARM_MOVE_TO_POINT", "运动到指定点"),
 
     // --------------- 头部 ---------------
     BIO_HEAD_SPEAK_START("EDGE", "BIO_HEAD_SPEAK_START", "开始说话"),

cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/operator/edge/EdgeArmOperateService.java

@@ -0,0 +1,100 @@
+package com.cmvr.test.flow.runtime.operator.edge;
+
+import com.alibaba.fastjson2.JSONObject;
+import com.cmvr.common.exception.GlobalException;
+import com.cmvr.edge.client.model.EdgeCommonVO;
+import com.cmvr.edge.client.service.EdgeArmService;
+import com.cmvr.test.enums.ActionEnum;
+import com.cmvr.test.flow.runtime.message.TaskNodeExecuteMessage;
+import com.cmvr.test.flow.runtime.message.TaskNodeExecuteResult;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Service;
+
+import java.util.Objects;
+
+/**
+ * 机械臂边缘操作服务
+ * 处理机械臂相关的设备行为，如末端运动到指定位置
+ *
+ * @author cmvr-iot
+ * @since 2026-07-01
+ */
+@Slf4j
+@Service
+@RequiredArgsConstructor
+public class EdgeArmOperateService implements EdgeOperateService {
+
+    private final EdgeArmService edgeArmService;
+
+    @Override
+    public boolean supports(ActionEnum action) {
+        return action.name().startsWith("ARM_");
+    }
+
+    @Override
+    public TaskNodeExecuteResult execute(TaskNodeExecuteMessage message) {
+        ActionEnum action = message.getAction();
+        JSONObject inputParams = message.getInputParams();
+        String terminalId = message.getTerminalId();
+        
+        // 从输入参数中获取设备ID
+        String deviceId = inputParams.getString("deviceId");
+        
+        if (deviceId == null || deviceId.isEmpty()) {
+            throw new GlobalException("设备ID(deviceId)不能为空");
+        }
+        // 构建边缘端通用参数
+        EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
+        edgeCommonVO.setTerminalId(terminalId);
+        edgeCommonVO.setDeviceId(deviceId);
+
+        // 先调用开启力矩
+        edgeArmService.torqueOn(edgeCommonVO);
+
+        if (Objects.requireNonNull(action) == ActionEnum.ARM_MOVE_TO_POINT) {
+            log.info("执行机械臂末端运动到指定点操作，设备ID: {}", deviceId);
+
+            // 从输入参数中获取坐标信息
+            Double x = inputParams.getDouble("x");
+            Double y = inputParams.getDouble("y");
+            Double z = inputParams.getDouble("z");
+            Double rx = inputParams.getDouble("rx");
+            Double ry = inputParams.getDouble("ry");
+            Double rz = inputParams.getDouble("rz");
+            String frame = inputParams.getString("frame");
+            Double velocity = inputParams.getDouble("velocity");
+            Double acceleration = inputParams.getDouble("acceleration");
+            Double blendRadius = inputParams.getDouble("blendRadius");
+
+            // 参数验证
+            if (x == null || y == null || z == null) {
+                throw new GlobalException("X、Y、Z坐标不能为空");
+            }
+            if (rx == null || ry == null || rz == null) {
+                throw new GlobalException("RX、RY、RZ旋转角度不能为空");
+            }
+
+            // 直接调用边缘端机械臂服务执行笛卡尔空间直线运动
+            edgeArmService.moveL(
+                    edgeCommonVO,
+                    x,
+                    y,
+                    z,
+                    rx,
+                    ry,
+                    rz,
+                    frame,
+                    velocity,
+                    acceleration,
+                    blendRadius
+            );
+
+            log.info("机械臂末端运动任务下发成功");
+        } else {
+            throw new GlobalException("不支持的机械臂操作类型: " + action);
+        }
+        
+        return TaskNodeExecuteResult.success();
+    }
+}

cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/operator/edge/EdgeTouchOperateService.java

@@ -3,8 +3,8 @@ package com.cmvr.test.flow.runtime.operator.edge;
 import com.alibaba.fastjson2.JSON;
 import com.alibaba.fastjson2.JSONObject;
 import com.cmvr.common.exception.GlobalException;
-import com.cmvr.edge.client.model.humanoid.EdgeMoveJVO;
+import com.cmvr.edge.client.model.arm.EdgeArmMoveJVO;
-import com.cmvr.edge.client.service.EdgeHumanoidRobotService;
+import com.cmvr.edge.client.service.EdgeArmService;
 import com.cmvr.test.enums.ActionEnum;
 import com.cmvr.test.flow.runtime.message.TaskNodeExecuteMessage;
 import com.cmvr.test.flow.runtime.message.TaskNodeExecuteResult;
@@ -12,13 +12,15 @@ import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Service;
 
+import java.util.Objects;
+
 
 @Slf4j
 @Service
 @RequiredArgsConstructor
 public class EdgeTouchOperateService implements EdgeOperateService {
 
-    private final EdgeHumanoidRobotService edgeHumanoidRobotService;
+    private final EdgeArmService edgeArmService;
 
     @Override
     public boolean supports(ActionEnum action) {
@@ -33,18 +35,22 @@ public class EdgeTouchOperateService implements EdgeOperateService {
         String deviceId = inputParams.getString("deviceId");
         String touchParams = inputParams.getString("touchParams");
 
-        switch (action) {
+        if (Objects.requireNonNull(action) == ActionEnum.TOUCH) {
-            case TOUCH: {
+            EdgeArmMoveJVO edgeArmMoveJVO = JSON.parseObject(touchParams, EdgeArmMoveJVO.class);
-                EdgeMoveJVO edgeMoveJVO = JSON.parseObject(touchParams, EdgeMoveJVO.class);
+            edgeArmMoveJVO.setTerminalId(terminalId);
-                edgeMoveJVO.setTerminalId(terminalId);
+            edgeArmMoveJVO.setDeviceId(deviceId);
-                edgeMoveJVO.setDeviceId(deviceId);
 
-                edgeHumanoidRobotService.moveJ(edgeMoveJVO);
+            edgeArmService.moveJ(
-                break;
+                    edgeArmMoveJVO,
-            }
+                    edgeArmMoveJVO.getTarget(),
-
+                    edgeArmMoveJVO.getVelocity(),
-            default:
+                    edgeArmMoveJVO.getAcceleration(),
-                throw new GlobalException("不支持的触控操作类型: " + action);
+                    edgeArmMoveJVO.getBlendRadius(),
+                    edgeArmMoveJVO.getJointVelocityLimits(),
+                    edgeArmMoveJVO.getAsynchronous()
+            );
+        } else {
+            throw new GlobalException("不支持的触控操作类型: " + action);
         }
         return TaskNodeExecuteResult.success();
     }

cmvr-iot-test/src/main/java/com/cmvr/test/service/FlowiseActionService.java

@@ -9,8 +9,8 @@ import com.cmvr.common.exception.GlobalException;
 import com.cmvr.common.utils.http.CallAPIUtil;
 import com.cmvr.common.utils.uuid.IdUtils;
 import com.cmvr.edge.client.model.EdgeCommonVO;
+import com.cmvr.edge.client.service.EdgeArmService;
 import com.cmvr.edge.client.service.EdgeBioHeadService;
-import com.cmvr.edge.client.service.EdgeHumanoidRobotService;
 import com.cmvr.test.enums.FlowiseActionEnum;
 import com.cmvr.test.flow.context.TaskContext;
 import com.cmvr.test.flow.context.TaskContextManager;
@@ -36,7 +36,7 @@ import java.util.Map;
 public class FlowiseActionService {
 
     private final EdgeBioHeadService edgeBioHeadService;
-    private final EdgeHumanoidRobotService edgeHumanoidRobotService;
+    private final EdgeArmService edgeArmService;
     private final TaskContextManager taskContextManager;
     private final FlowControlService flowControlService;
     private final FlowTaskRuntimeService flowTaskRuntimeService;