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 MoveJ{
    message Request{
      CommandHeader.Request header = 1;
      repeated JointCmd cmds = 2;
      double vel = 3;
      double acc = 4;
    }

    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);
}