110 lines
10 KiB
Python
110 lines
10 KiB
Python
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# -*- coding: utf-8 -*-
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# Generated by the protocol buffer compiler. DO NOT EDIT!
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# NO CHECKED-IN PROTOBUF GENCODE
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# source: cmvr/api/arm_command.proto
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# Protobuf Python Version: 6.31.1
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"""Generated protocol buffer code."""
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from google.protobuf import descriptor as _descriptor
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from google.protobuf import descriptor_pool as _descriptor_pool
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from google.protobuf import runtime_version as _runtime_version
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from google.protobuf import symbol_database as _symbol_database
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from google.protobuf.internal import builder as _builder
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_runtime_version.ValidateProtobufRuntimeVersion(
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_runtime_version.Domain.PUBLIC,
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6,
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31,
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1,
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'',
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'cmvr/api/arm_command.proto'
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)
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# @@protoc_insertion_point(imports)
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_sym_db = _symbol_database.Default()
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from cmvr.api import common_pb2 as cmvr_dot_api_dot_common__pb2
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DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1a\x63mvr/api/arm_command.proto\x12\x08\x63mvr.api\x1a\x15\x63mvr/api/common.proto\"(\n\x14JointPositionCommand\x12\x10\n\x08position\x18\x01 \x03(\x01\"(\n\x14JointVelocityCommand\x12\x10\n\x08velocity\x18\x01 \x03(\x01\"\x90\x01\n\rMotionOptions\x12\x10\n\x08velocity\x18\x01 \x01(\x01\x12\x14\n\x0c\x61\x63\x63\x65leration\x18\x02 \x01(\x01\x12\x14\n\x0c\x62lend_radius\x18\x03 \x01(\x01\x12\x0c\n\x04jerk\x18\x04 \x01(\x01\x12\x1d\n\x15joint_velocity_limits\x18\x05 \x03(\x01\x12\x14\n\x0c\x61synchronous\x18\x06 \x01(\x08\"T\n\rCartesianPose\x12\t\n\x01x\x18\x01 \x01(\x01\x12\t\n\x01y\x18\x02 \x01(\x01\x12\t\n\x01z\x18\x03 \x01(\x01\x12\n\n\x02rx\x18\x04 \x01(\x01\x12\n\n\x02ry\x18\x05 \x01(\x01\x12\n\n\x02rz\x18\x06 \x01(\x01\"[\n\x11\x43\x61rtesianVelocity\x12\n\n\x02vx\x18\x01 \x01(\x01\x12\n\n\x02vy\x18\x02 \x01(\x01\x12\n\n\x02vz\x18\x03 \x01(\x01\x12\n\n\x02wx\x18\x04 \x01(\x01\x12\n\n\x02wy\x18\x05 \x01(\x01\x12\n\n\x02wz\x18\x06 \x01(\x01\"\xe4\x01\n\x12TransformMatrix4x4\x12\x0b\n\x03m00\x18\x01 \x01(\x01\x12\x0b\n\x03m01\x18\x02 \x01(\x01\x12\x0b\n\x03m02\x18\x03 \x01(\x01\x12\x0b\n\x03m03\x18\x04 \x01(\x01\x12\x0b\n\x03m10\x18\x05 \x01(\x01\x12\x0b\n\x03m11\x18\x06 \x01(\x01\x12\x0b\n\x03m12\x18\x07 \x01(\x01\x12\x0b\n\x03m13\x18\x08 \x01(\x01\x12\x0b\n\x03m20\x18\t \x01(\x01\x12\x0b\n\x03m21\x18\n \x01(\x01\x12\x0b\n\x03m22\x18\x0b \x01(\x01\x12\x0b\n\x03m23\x18\x0c \x01(\x01\x12\x0b\n\x03m30\x18\r \x01(\x01\x12\x0b\n\x03m31\x18\x0e \x01(\x01\x12\x0b\n\x03m32\x18\x0f \x01(\x01\x12\x0b\n\x03m33\x18\x10 \x01(\x01\"\xdc\x01\n\x05MoveJ\x1a\x94\x01\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12.\n\x06target\x18\x02 \x01(\x0b\x32\x1e.cmvr.api.JointPositionCommand\x12(\n\x07options\x18\x03 \x01(\x0b\x32\x17.cmvr.api.MotionOptions\x1a<\n\x08Response\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\xfc\x01\n\x05MoveL\x1a\xb4\x01\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12\'\n\x06target\x18\x02 \x01(\x0b\x32\x17.cmvr.api.CartesianPose\x12(\n\x07options\x18\x03 \x01(\x0b\x32\x17.cmvr.api.MotionOptions\x12%\n\x05\x66rame\x18\x04 \x01(\x0e\x32\x16.cmvr.api.ArmFrameType\x1a<\n\x08Response\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\xdd\x01\n\x06SpeedJ\x1a\x94\x01\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12\x30\n\x08velocity\x18\x02 \x01(\x0b\x32\x1e.cmvr.api.JointVelocityCommand\x12\x14\n\x0c\x61\x63\x63\x65leration\x18\x03 \x01(\x01\x12\x10\n\x08\x64uration\x18\x04 \x01(\x01\x1a<\n\x08Response\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\x81\x02\n\x06SpeedL\x1a\xb8\x01\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12-\n\x08velocity\x18\x02 \x01(\x0b\x32\x1b.cmvr.api.CartesianVelocity\x12\x14\n\x0c\x61\x63\x63\x65leration\x18\x03 \x01(\x01\x12\x10\n\x08\x64uration\x18\x04 \x01(\x01\x12%\n\x05\x66rame\x18\x05 \x01(\x0e\x32\x16.cmvr.api.ArmFrameType\x1a<\n\x08Response\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\xb2\x01\n\x06ServoJ\x1aj\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12.\n\x06target\x18\x02 \x01(\x0b\x32\x1e.cmvr.api.JointPositionCommand\x1a<\n\x08Response\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"a\n\nJointState\x12\x0c\n\x04name\x18\x01 \x03(\t\x12\x10\n\x08position\x18\x02 \x03(\x01\x12\x10\n\x08velocity\x18\x03 \x03(\x01\x12\x0e\n\x06\x65\x66\x66ort\x18\x04 \x03(\x01\x12\x11\n\ttimestamp\x18\x05 \x01(\x01\"?\n\x0cJointRequest\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\"f\n\rJointResponse\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12#\n\x05state\x18\x02 \x01(\x0b\x32\x14.cmvr.api.JointState\"\xce\x01\n\x07GetPose\x1a^\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12\
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_globals = globals()
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_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
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_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.api.arm_command_pb2', _globals)
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if not _descriptor._USE_C_DESCRIPTORS:
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DESCRIPTOR._loaded_options = None
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_globals['_ARMFRAMETYPE']._serialized_start=2989
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_globals['_ARMFRAMETYPE']._serialized_end=3084
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_globals['_JOINTPOSITIONCOMMAND']._serialized_start=63
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_globals['_JOINTPOSITIONCOMMAND']._serialized_end=103
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_globals['_JOINTVELOCITYCOMMAND']._serialized_start=105
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_globals['_JOINTVELOCITYCOMMAND']._serialized_end=145
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_globals['_MOTIONOPTIONS']._serialized_start=148
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_globals['_MOTIONOPTIONS']._serialized_end=292
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_globals['_CARTESIANPOSE']._serialized_start=294
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_globals['_CARTESIANPOSE']._serialized_end=378
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_globals['_CARTESIANVELOCITY']._serialized_start=380
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_globals['_CARTESIANVELOCITY']._serialized_end=471
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_globals['_TRANSFORMMATRIX4X4']._serialized_start=474
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_globals['_TRANSFORMMATRIX4X4']._serialized_end=702
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_globals['_MOVEJ']._serialized_start=705
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_globals['_MOVEJ']._serialized_end=925
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_globals['_MOVEJ_REQUEST']._serialized_start=715
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_globals['_MOVEJ_REQUEST']._serialized_end=863
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_globals['_MOVEJ_RESPONSE']._serialized_start=865
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_globals['_MOVEJ_RESPONSE']._serialized_end=925
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_globals['_MOVEL']._serialized_start=928
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_globals['_MOVEL']._serialized_end=1180
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_globals['_MOVEL_REQUEST']._serialized_start=938
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_globals['_MOVEL_REQUEST']._serialized_end=1118
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_globals['_MOVEL_RESPONSE']._serialized_start=865
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_globals['_MOVEL_RESPONSE']._serialized_end=925
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_globals['_SPEEDJ']._serialized_start=1183
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_globals['_SPEEDJ']._serialized_end=1404
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_globals['_SPEEDJ_REQUEST']._serialized_start=1194
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_globals['_SPEEDJ_REQUEST']._serialized_end=1342
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_globals['_SPEEDJ_RESPONSE']._serialized_start=865
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_globals['_SPEEDJ_RESPONSE']._serialized_end=925
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_globals['_SPEEDL']._serialized_start=1407
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_globals['_SPEEDL']._serialized_end=1664
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_globals['_SPEEDL_REQUEST']._serialized_start=1418
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_globals['_SPEEDL_REQUEST']._serialized_end=1602
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_globals['_SPEEDL_RESPONSE']._serialized_start=865
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_globals['_SPEEDL_RESPONSE']._serialized_end=925
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_globals['_SERVOJ']._serialized_start=1667
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_globals['_SERVOJ']._serialized_end=1845
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_globals['_SERVOJ_REQUEST']._serialized_start=715
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_globals['_SERVOJ_REQUEST']._serialized_end=821
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_globals['_SERVOJ_RESPONSE']._serialized_start=865
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_globals['_SERVOJ_RESPONSE']._serialized_end=925
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_globals['_JOINTSTATE']._serialized_start=1847
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_globals['_JOINTSTATE']._serialized_end=1944
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_globals['_JOINTREQUEST']._serialized_start=1946
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_globals['_JOINTREQUEST']._serialized_end=2009
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_globals['_JOINTRESPONSE']._serialized_start=2011
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_globals['_JOINTRESPONSE']._serialized_end=2113
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_globals['_GETPOSE']._serialized_start=2116
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_globals['_GETPOSE']._serialized_end=2322
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_globals['_GETPOSE_REQUEST']._serialized_start=2127
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_globals['_GETPOSE_REQUEST']._serialized_end=2221
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_globals['_GETPOSE_RESPONSE']._serialized_start=2223
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_globals['_GETPOSE_RESPONSE']._serialized_end=2322
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_globals['_CALIBRATEZEROQ']._serialized_start=2325
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_globals['_CALIBRATEZEROQ']._serialized_end=2483
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_globals['_CALIBRATEZEROQ_REQUEST']._serialized_start=2343
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_globals['_CALIBRATEZEROQ_REQUEST']._serialized_end=2421
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_globals['_CALIBRATEZEROQ_RESPONSE']._serialized_start=865
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_globals['_CALIBRATEZEROQ_RESPONSE']._serialized_end=925
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_globals['_GETPOSEMATRIX']._serialized_start=2486
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_globals['_GETPOSEMATRIX']._serialized_end=2705
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_globals['_GETPOSEMATRIX_REQUEST']._serialized_start=2127
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_globals['_GETPOSEMATRIX_REQUEST']._serialized_end=2221
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_globals['_GETPOSEMATRIX_RESPONSE']._serialized_start=2599
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_globals['_GETPOSEMATRIX_RESPONSE']._serialized_end=2705
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_globals['_COMPUTEFORWARDKINEMATICS']._serialized_start=2708
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_globals['_COMPUTEFORWARDKINEMATICS']._serialized_end=2987
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_globals['_COMPUTEFORWARDKINEMATICS_REQUEST']._serialized_start=2737
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_globals['_COMPUTEFORWARDKINEMATICS_REQUEST']._serialized_end=2879
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_globals['_COMPUTEFORWARDKINEMATICS_RESPONSE']._serialized_start=2599
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_globals['_COMPUTEFORWARDKINEMATICS_RESPONSE']._serialized_end=2705
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# @@protoc_insertion_point(module_scope)
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