32 lines
684 B
Protocol Buffer
32 lines
684 B
Protocol Buffer
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syntax = "proto3";
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package cmvr.api;
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import "cmvr/api/common.proto";
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message JointCmd {
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string joint_name = 1; // 关节名称
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double rad = 2; // 弧度
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double vel = 3; // 角速度，rad/s
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}
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message MoveJ{
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message Request{
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CommandHeader.Request header = 1;
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repeated JointCmd cmds = 2;
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double vel = 3;
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double acc = 4;
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}
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message Response{
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CommandHeader.Feedback header= 1;
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}
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}
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service HumanoidRobotService{
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rpc torqueOff(CommandHeader.Request) returns (CommandHeader.Feedback);
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rpc torqueOn(CommandHeader.Request) returns (CommandHeader.Feedback);
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rpc moveJ(MoveJ.Request) returns (MoveJ.Response);
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} |