cmvr-es/protos/cmvr/api/humanoid_robot.proto

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;
    }
}

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);
}