From c96e4199e78aec8126e4c5cbde9b032bfc49f429 Mon Sep 17 00:00:00 2001 From: lgv Date: Wed, 24 Jun 2026 15:49:54 +0800 Subject: [PATCH] feat:Sync client with server-side gRPC updates --- README.md | 19 +- clients/__pycache__/__init__.cpython-313.pyc | Bin 0 -> 155 bytes clients/__pycache__/__init__.cpython-39.pyc | Bin 142 -> 149 bytes .../__pycache__/_path_setup.cpython-313.pyc | Bin 0 -> 769 bytes .../__pycache__/_path_setup.cpython-39.pyc | Bin 499 -> 506 bytes .../__pycache__/base_client.cpython-313.pyc | Bin 0 -> 3324 bytes .../__pycache__/base_client.cpython-39.pyc | Bin 2066 -> 2052 bytes .../calibrateZeroQ.cpython-313.pyc | Bin 0 -> 2863 bytes .../__pycache__/camera_client.cpython-39.pyc | Bin 2799 -> 2806 bytes .../get_joint_state_client.cpython-313.pyc | Bin 0 -> 7122 bytes .../get_pose_client.cpython-313.pyc | Bin 0 -> 2962 bytes .../__pycache__/hand_client.cpython-39.pyc | Bin 2313 -> 2320 bytes clients/__pycache__/hlc_client.cpython-39.pyc | Bin 2026 -> 2033 bytes .../__pycache__/movej_client.cpython-313.pyc | Bin 0 -> 10844 bytes .../save_joint_to_csv.cpython-313.pyc | Bin 0 -> 3430 bytes .../__pycache__/servoj_client.cpython-313.pyc | Bin 0 -> 11599 bytes .../torque_key_client.cpython-313.pyc | Bin 0 -> 4431 bytes .../torque_off_client.cpython-313.pyc | Bin 0 -> 2104 bytes .../torque_off_client.cpython-39.pyc | Bin 1406 -> 1396 bytes .../torque_on_client.cpython-313.pyc | Bin 0 -> 2113 bytes .../torque_on_client.cpython-39.pyc | Bin 1415 -> 1405 bytes clients/base_client.py | 4 +- clients/calibrateZeroQ.py | 12 +- clients/get_joint_state_client.py | 15 +- clients/get_pose_client.py | 6 +- clients/movej_client.py | 14 +- clients/save_joint_to_csv.py | 12 +- clients/servoj_client.py | 13 +- clients/torque_key_client.py | 8 +- clients/torque_off_client.py | 8 +- clients/torque_on_client.py | 8 +- .../__pycache__/__init__.cpython-310.pyc | Bin 153 -> 0 bytes generated/__pycache__/__init__.cpython-39.pyc | Bin 144 -> 0 bytes .../cmvr/__pycache__/__init__.cpython-310.pyc | Bin 158 -> 0 bytes .../cmvr/__pycache__/__init__.cpython-39.pyc | Bin 149 -> 156 bytes .../api/__pycache__/__init__.cpython-310.pyc | Bin 162 -> 0 bytes .../api/__pycache__/__init__.cpython-39.pyc | Bin 153 -> 160 bytes .../arm_command_pb2.cpython-39.pyc | Bin 0 -> 5966 bytes .../arm_service_pb2_grpc.cpython-39.pyc | Bin 0 -> 10312 bytes .../camera_command_pb2.cpython-39.pyc | Bin 6292 -> 6299 bytes .../camera_service_pb2_grpc.cpython-39.pyc | Bin 9684 -> 9691 bytes .../__pycache__/common_pb2.cpython-310.pyc | Bin 2199 -> 0 bytes .../api/__pycache__/common_pb2.cpython-39.pyc | Bin 1956 -> 1963 bytes .../dexhand_command_pb2.cpython-310.pyc | Bin 6909 -> 0 bytes .../dexhand_command_pb2.cpython-39.pyc | Bin 5226 -> 5233 bytes .../dexhand_command_pb2_grpc.cpython-310.pyc | Bin 291 -> 0 bytes .../dexhand_service_pb2_grpc.cpython-310.pyc | Bin 6308 -> 0 bytes .../dexhand_service_pb2_grpc.cpython-39.pyc | Bin 7887 -> 7894 bytes .../hlc_command_pb2.cpython-39.pyc | Bin 1407 -> 1414 bytes .../hlc_service_pb2_grpc.cpython-39.pyc | Bin 3108 -> 3115 bytes ...humanoid_robot_command_pb2.cpython-310.pyc | Bin 5423 -> 0 bytes .../humanoid_robot_command_pb2.cpython-39.pyc | Bin 5687 -> 0 bytes ...oid_robot_service_pb2_grpc.cpython-310.pyc | Bin 6077 -> 0 bytes ...noid_robot_service_pb2_grpc.cpython-39.pyc | Bin 10228 -> 0 bytes generated/cmvr/api/arm_command_pb2.py | 109 +++++ ...nd_pb2_grpc.py => arm_command_pb2_grpc.py} | 2 +- generated/cmvr/api/arm_service_pb2.py | 38 ++ ...ce_pb2_grpc.py => arm_service_pb2_grpc.py} | 413 ++++++++++-------- .../cmvr/api/humanoid_robot_command_pb2.py | 105 ----- .../cmvr/api/humanoid_robot_service_pb2.py | 38 -- .../{__pycache__ => cmvr/common}/__init__.py | 0 generated/cmvr/common/geometry_pb2.py | 52 +++ .../{msgs => common}/geometry_pb2_grpc.py | 2 +- .../agv_config}/__init__.py | 0 .../cmvr/config/agv_config/agv_config_pb2.py | 42 ++ .../config/agv_config/agv_config_pb2_grpc.py | 24 + .../arm_config}/__init__.py | 0 .../cmvr/config/arm_config/arm_config_pb2.py | 81 ++++ .../config/arm_config/arm_config_pb2_grpc.py | 24 + .../__init__.py | 0 .../aubo_robot_config_pb2.py} | 14 +- .../aubo_robot_config_pb2_grpc.py | 24 + .../cmvr/config/biohead_config/__init__.py | 0 .../biohead_config/biohead_config_pb2.py | 40 ++ .../biohead_config/biohead_config_pb2_grpc.py | 24 + .../config/camera_config/camera_config_pb2.py | 30 +- .../cmvr/config/cmvr_es_config/__init__.py | 0 .../cmvr_es_config_pb2.py} | 14 +- .../cmvr_es_config/cmvr_es_config_pb2_grpc.py | 24 + .../config/device_manager_config/__init__.py | 0 .../device_manager_config_pb2.py | 42 ++ .../device_manager_config_pb2_grpc.py | 24 + .../dexhand_config/dexhand_config_pb2.py | 16 +- .../config/grpc_server_config/__init__.py | 0 .../grpc_server_config_pb2.py | 38 ++ .../grpc_server_config_pb2_grpc.py | 24 + generated/cmvr/config/lawba_ik_config_pb2.py | 37 ++ .../cmvr/config/lawba_ik_config_pb2_grpc.py | 24 + .../cmvr/config/logger_config/__init__.py | 0 .../config/logger_config/logger_config_pb2.py | 44 ++ .../logger_config/logger_config_pb2_grpc.py | 24 + .../microphone_config_pb2.py | 14 +- .../cmvr/config/motor_config/__init__.py | 0 .../config/motor_config/motor_config_pb2.py | 48 ++ .../motor_config/motor_config_pb2_grpc.py | 24 + .../config/pinocchio_dls_ik_config_pb2.py | 6 +- .../cmvr/config/pinocchio_qp_ik_config_pb2.py | 36 ++ ....py => pinocchio_qp_ik_config_pb2_grpc.py} | 2 +- .../speaker_config/speaker_config_pb2.py | 42 ++ ...pb2_grpc.py => speaker_config_pb2_grpc.py} | 2 +- generated/cmvr/config/srs_ik_config_pb2.py | 36 ++ .../cmvr/config/srs_ik_config_pb2_grpc.py | 24 + .../config/task_manager_config/__init__.py | 0 .../task_manager_config_pb2.py | 44 ++ .../task_manager_config_pb2_grpc.py | 24 + .../touch_screen_algorithm_config_pb2.py | 40 ++ ...touch_screen_algorithm_config_pb2_grpc.py} | 2 +- .../touch_screen_app_config_pb2.py | 52 --- .../config/touch_screen_common_config_pb2.py | 46 ++ .../touch_screen_common_config_pb2_grpc.py | 24 + .../touch_screen_task_config/__init__.py | 0 .../touch_screen_task_config_pb2.py | 63 +++ .../touch_screen_task_config_pb2_grpc.py | 24 + generated/cmvr/msgs/geometry_pb2.py | 48 -- protos/cmvr/api/arm_command.proto | 185 ++++++++ ..._robot_service.proto => arm_service.proto} | 16 +- protos/cmvr/api/humanoid_robot_command.proto | 202 --------- protos/cmvr/common/geometry.proto | 79 ++++ .../cmvr/config/agv_config/agv_config.proto | 24 + .../cmvr/config/arm_config/arm_config.proto | 178 ++++++++ .../aubo_robot_config/aubo_robot_config.proto | 10 + .../biohead_config/biohead_config.proto | 23 + .../config/camera_config/camera_config.proto | 37 +- .../cmvr_es_config/cmvr_es_config.proto | 14 + .../device_manager_config.proto | 38 ++ .../dexhand_config/dexhand_config.proto | 50 ++- .../grpc_server_config.proto | 12 + protos/cmvr/config/lawba_ik_config.proto | 15 + .../config/logger_config/logger_config.proto | 37 ++ .../microphone_config/microphone_config.proto | 20 +- .../config/motor_config/motor_config.proto | 48 ++ .../cmvr/config/pinocchio_dls_ik_config.proto | 23 + ...fig.proto => pinocchio_qp_ik_config.proto} | 0 .../speaker_config/speaker_config.proto | 25 ++ .../speaker_config/speaker_conifg.proto | 11 - protos/cmvr/config/srs_ik_config.proto | 13 + .../task_manager_config.proto | 32 ++ .../touch_screen_algorithm_config.proto | 32 ++ .../touch_screen_app_config.proto | 122 ------ .../config/touch_screen_common_config.proto | 40 ++ .../touch_screen_task_config.proto | 102 +++++ protos/cmvr/msgs/geometry.proto | 51 --- ui/__pycache__/__init__.cpython-39.pyc | Bin 137 -> 144 bytes ui/__pycache__/app.cpython-313.pyc | Bin 0 -> 48863 bytes ui/__pycache__/app.cpython-39.pyc | Bin 24497 -> 23892 bytes ui/__pycache__/camera_page.cpython-39.pyc | Bin 16282 -> 16289 bytes ui/__pycache__/plot_page.cpython-39.pyc | Bin 12406 -> 12413 bytes ui/__pycache__/rgb_image_page.cpython-39.pyc | Bin 20508 -> 20515 bytes ui/__pycache__/run_action.cpython-313.pyc | Bin 0 -> 4323 bytes ui/__pycache__/run_action.cpython-39.pyc | Bin 2471 -> 2483 bytes ui/app.py | 18 +- ui/run_action.py | 2 +- 152 files changed, 2612 insertions(+), 940 deletions(-) create mode 100644 clients/__pycache__/__init__.cpython-313.pyc create mode 100644 clients/__pycache__/_path_setup.cpython-313.pyc create mode 100644 clients/__pycache__/base_client.cpython-313.pyc create mode 100644 clients/__pycache__/calibrateZeroQ.cpython-313.pyc create mode 100644 clients/__pycache__/get_joint_state_client.cpython-313.pyc create mode 100644 clients/__pycache__/get_pose_client.cpython-313.pyc create mode 100644 clients/__pycache__/movej_client.cpython-313.pyc create mode 100644 clients/__pycache__/save_joint_to_csv.cpython-313.pyc create mode 100644 clients/__pycache__/servoj_client.cpython-313.pyc create mode 100644 clients/__pycache__/torque_key_client.cpython-313.pyc create mode 100644 clients/__pycache__/torque_off_client.cpython-313.pyc create mode 100644 clients/__pycache__/torque_on_client.cpython-313.pyc delete mode 100644 generated/__pycache__/__init__.cpython-310.pyc delete mode 100644 generated/__pycache__/__init__.cpython-39.pyc delete mode 100644 generated/cmvr/__pycache__/__init__.cpython-310.pyc delete mode 100644 generated/cmvr/api/__pycache__/__init__.cpython-310.pyc create mode 100644 generated/cmvr/api/__pycache__/arm_command_pb2.cpython-39.pyc create mode 100644 generated/cmvr/api/__pycache__/arm_service_pb2_grpc.cpython-39.pyc delete mode 100644 generated/cmvr/api/__pycache__/common_pb2.cpython-310.pyc delete mode 100644 generated/cmvr/api/__pycache__/dexhand_command_pb2.cpython-310.pyc delete mode 100644 generated/cmvr/api/__pycache__/dexhand_command_pb2_grpc.cpython-310.pyc delete mode 100644 generated/cmvr/api/__pycache__/dexhand_service_pb2_grpc.cpython-310.pyc delete mode 100644 generated/cmvr/api/__pycache__/humanoid_robot_command_pb2.cpython-310.pyc delete mode 100644 generated/cmvr/api/__pycache__/humanoid_robot_command_pb2.cpython-39.pyc delete mode 100644 generated/cmvr/api/__pycache__/humanoid_robot_service_pb2_grpc.cpython-310.pyc delete mode 100644 generated/cmvr/api/__pycache__/humanoid_robot_service_pb2_grpc.cpython-39.pyc create mode 100644 generated/cmvr/api/arm_command_pb2.py rename generated/cmvr/api/{humanoid_robot_command_pb2_grpc.py => arm_command_pb2_grpc.py} (89%) create mode 100644 generated/cmvr/api/arm_service_pb2.py rename generated/cmvr/api/{humanoid_robot_service_pb2_grpc.py => arm_service_pb2_grpc.py} (63%) delete mode 100644 generated/cmvr/api/humanoid_robot_command_pb2.py delete mode 100644 generated/cmvr/api/humanoid_robot_service_pb2.py rename generated/{__pycache__ => cmvr/common}/__init__.py (100%) create mode 100644 generated/cmvr/common/geometry_pb2.py rename generated/cmvr/{msgs => common}/geometry_pb2_grpc.py (90%) rename generated/cmvr/{__pycache__ => config/agv_config}/__init__.py (100%) create mode 100644 generated/cmvr/config/agv_config/agv_config_pb2.py create mode 100644 generated/cmvr/config/agv_config/agv_config_pb2_grpc.py rename generated/cmvr/{api/__pycache__ => config/arm_config}/__init__.py (100%) create mode 100644 generated/cmvr/config/arm_config/arm_config_pb2.py create mode 100644 generated/cmvr/config/arm_config/arm_config_pb2_grpc.py rename generated/cmvr/config/{touch_screen_app_config => aubo_robot_config}/__init__.py (100%) rename generated/cmvr/config/{speaker_config/speaker_conifg_pb2.py => aubo_robot_config/aubo_robot_config_pb2.py} (56%) create mode 100644 generated/cmvr/config/aubo_robot_config/aubo_robot_config_pb2_grpc.py create mode 100644 generated/cmvr/config/biohead_config/__init__.py create mode 100644 generated/cmvr/config/biohead_config/biohead_config_pb2.py create mode 100644 generated/cmvr/config/biohead_config/biohead_config_pb2_grpc.py create mode 100644 generated/cmvr/config/cmvr_es_config/__init__.py rename generated/cmvr/config/{pinocchio_qp_ik_solver_config_pb2.py => cmvr_es_config/cmvr_es_config_pb2.py} (55%) create mode 100644 generated/cmvr/config/cmvr_es_config/cmvr_es_config_pb2_grpc.py create mode 100644 generated/cmvr/config/device_manager_config/__init__.py create mode 100644 generated/cmvr/config/device_manager_config/device_manager_config_pb2.py create mode 100644 generated/cmvr/config/device_manager_config/device_manager_config_pb2_grpc.py create mode 100644 generated/cmvr/config/grpc_server_config/__init__.py create mode 100644 generated/cmvr/config/grpc_server_config/grpc_server_config_pb2.py create mode 100644 generated/cmvr/config/grpc_server_config/grpc_server_config_pb2_grpc.py create mode 100644 generated/cmvr/config/lawba_ik_config_pb2.py create mode 100644 generated/cmvr/config/lawba_ik_config_pb2_grpc.py create mode 100644 generated/cmvr/config/logger_config/__init__.py create mode 100644 generated/cmvr/config/logger_config/logger_config_pb2.py create mode 100644 generated/cmvr/config/logger_config/logger_config_pb2_grpc.py create mode 100644 generated/cmvr/config/motor_config/__init__.py create mode 100644 generated/cmvr/config/motor_config/motor_config_pb2.py create mode 100644 generated/cmvr/config/motor_config/motor_config_pb2_grpc.py create mode 100644 generated/cmvr/config/pinocchio_qp_ik_config_pb2.py rename generated/cmvr/config/{pinocchio_qp_ik_solver_config_pb2_grpc.py => pinocchio_qp_ik_config_pb2_grpc.py} (95%) create mode 100644 generated/cmvr/config/speaker_config/speaker_config_pb2.py rename generated/cmvr/config/speaker_config/{speaker_conifg_pb2_grpc.py => speaker_config_pb2_grpc.py} (95%) create mode 100644 generated/cmvr/config/srs_ik_config_pb2.py create mode 100644 generated/cmvr/config/srs_ik_config_pb2_grpc.py create mode 100644 generated/cmvr/config/task_manager_config/__init__.py create mode 100644 generated/cmvr/config/task_manager_config/task_manager_config_pb2.py create mode 100644 generated/cmvr/config/task_manager_config/task_manager_config_pb2_grpc.py create mode 100644 generated/cmvr/config/touch_screen_algorithm_config_pb2.py rename generated/cmvr/config/{touch_screen_app_config/touch_screen_app_config_pb2_grpc.py => touch_screen_algorithm_config_pb2_grpc.py} (93%) delete mode 100644 generated/cmvr/config/touch_screen_app_config/touch_screen_app_config_pb2.py create mode 100644 generated/cmvr/config/touch_screen_common_config_pb2.py create mode 100644 generated/cmvr/config/touch_screen_common_config_pb2_grpc.py create mode 100644 generated/cmvr/config/touch_screen_task_config/__init__.py create mode 100644 generated/cmvr/config/touch_screen_task_config/touch_screen_task_config_pb2.py create mode 100644 generated/cmvr/config/touch_screen_task_config/touch_screen_task_config_pb2_grpc.py delete mode 100644 generated/cmvr/msgs/geometry_pb2.py create mode 100644 protos/cmvr/api/arm_command.proto rename protos/cmvr/api/{humanoid_robot_service.proto => arm_service.proto} (86%) delete mode 100644 protos/cmvr/api/humanoid_robot_command.proto create mode 100644 protos/cmvr/common/geometry.proto create mode 100644 protos/cmvr/config/agv_config/agv_config.proto create mode 100644 protos/cmvr/config/arm_config/arm_config.proto create mode 100644 protos/cmvr/config/aubo_robot_config/aubo_robot_config.proto create mode 100644 protos/cmvr/config/biohead_config/biohead_config.proto create mode 100644 protos/cmvr/config/cmvr_es_config/cmvr_es_config.proto create mode 100644 protos/cmvr/config/device_manager_config/device_manager_config.proto create mode 100644 protos/cmvr/config/grpc_server_config/grpc_server_config.proto create mode 100644 protos/cmvr/config/lawba_ik_config.proto create mode 100644 protos/cmvr/config/logger_config/logger_config.proto create mode 100644 protos/cmvr/config/motor_config/motor_config.proto rename protos/cmvr/config/{pinocchio_qp_ik_solver_config.proto => pinocchio_qp_ik_config.proto} (100%) create mode 100644 protos/cmvr/config/speaker_config/speaker_config.proto delete mode 100644 protos/cmvr/config/speaker_config/speaker_conifg.proto create mode 100644 protos/cmvr/config/srs_ik_config.proto create mode 100644 protos/cmvr/config/task_manager_config/task_manager_config.proto create mode 100644 protos/cmvr/config/touch_screen_algorithm_config.proto delete mode 100644 protos/cmvr/config/touch_screen_app_config/touch_screen_app_config.proto create mode 100644 protos/cmvr/config/touch_screen_common_config.proto create mode 100644 protos/cmvr/config/touch_screen_task_config/touch_screen_task_config.proto delete mode 100644 protos/cmvr/msgs/geometry.proto create mode 100644 ui/__pycache__/app.cpython-313.pyc create mode 100644 ui/__pycache__/run_action.cpython-313.pyc diff --git a/README.md b/README.md index bfae643..afc9c93 100644 --- a/README.md +++ b/README.md @@ -16,6 +16,21 @@ Use the same Python interpreter you run the clients with. For example: C:\Users\lgv\miniconda3\envs\grpc_client\python.exe -m pip install -r requirements.txt ``` +## Troubleshooting + +If you encounter the following error: + +```text +qt.qpa.plugin: Could not load the Qt platform plugin "xcb" in ".../site-packages/cv2/qt/plugins" +``` + +run: + +```bash +pip uninstall opencv-python opencv-contrib-python -y +pip install opencv-python-headless +``` + ## Generate gRPC code From repo root: @@ -50,7 +65,5 @@ python -m ui.app - gRPC server address/port: set in `clients/base_client.py` (default `192.168.0.222:50052`). - HTTP server host/port: set in `clients/http_server.py` (default `0.0.0.0:8000`). -- `device_id` defaults to `hc01` in most clients; change in code if needed. +- Arm `device_id` defaults to `right_arm`. 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self.stub = humanoid_robot_service_pb2_grpc.HumanoidRobotServiceStub(channel) + self.stub = arm_service_pb2_grpc.ArmServiceStub(channel) self.stub_hand = dexhand_service_pb2_grpc.DexHandServiceStub(channel) def _connect_with_retry(self): diff --git a/clients/calibrateZeroQ.py b/clients/calibrateZeroQ.py index 092dc3f..8c2b5db 100644 --- a/clients/calibrateZeroQ.py +++ b/clients/calibrateZeroQ.py @@ -7,14 +7,14 @@ from google.protobuf import timestamp_pb2 from clients.base_client import RobotClientBase from cmvr.api import common_pb2 -from cmvr.api import humanoid_robot_command_pb2 as pb -from cmvr.api import humanoid_robot_service_pb2_grpc as rpc +from cmvr.api import arm_command_pb2 as pb +from cmvr.api import arm_service_pb2_grpc as rpc class CalibrateZeroQClient(RobotClientBase): """Client to send calibrateZeroQ command""" - def send(self, device_id="hc01", joint_name="xxx"): + def send(self, device_id="right_arm", joint_name="xxx"): # Construct request header header = common_pb2.CommandHeader.Request() header.device_id = device_id @@ -42,8 +42,8 @@ class CalibrateZeroQClient(RobotClientBase): if __name__ == "__main__": # 创建命令行参数解析器 parser = argparse.ArgumentParser(description='Send calibrateZeroQ command to robot') - parser.add_argument('--device_id', type=str, default='hc01', - help='Device ID (default: hc01)') + parser.add_argument('--device_id', type=str, default='right_arm', + help='Device ID (default: right_arm)') parser.add_argument('--joint_name', type=str, required=True, help='Joint name to calibrate zero position') @@ -57,4 +57,4 @@ if __name__ == "__main__": client.send(device_id=args.device_id, joint_name=args.joint_name) # 关闭客户端 - client.close() \ No newline at end of file + client.close() diff --git a/clients/get_joint_state_client.py b/clients/get_joint_state_client.py index bf85d4b..41bc6cf 100644 --- a/clients/get_joint_state_client.py +++ b/clients/get_joint_state_client.py @@ -7,8 +7,8 @@ from clients._path_setup import ensure_paths ensure_paths() from clients.base_client import RobotClientBase -from cmvr.api import humanoid_robot_command_pb2 as pb -from cmvr.api import humanoid_robot_service_pb2_grpc as rpc +from cmvr.api import arm_command_pb2 as pb +from cmvr.api import arm_service_pb2_grpc as rpc # 固定关节顺序 JOINT_ORDER = [ @@ -32,7 +32,7 @@ class GetJointStateClient(RobotClientBase): self.pos_history = {name: [] for name in JOINT_ORDER} self.vel_history = {name: [] for name in JOINT_ORDER} - def send(self, interval=0.5, device_id="hc01"): + def send(self, interval=0.5, device_id="right_arm"): """Continuously fetch joint states and print in fixed order""" try: if self._start_time is None: @@ -57,11 +57,10 @@ class GetJointStateClient(RobotClientBase): # ====== 1. 同时取 position 和 velocity ====== joint_pos_dict = {} joint_vel_dict = {} - for state in resp.state: - # 这里就用你说的三元 zip - for name, pos, vel in zip(state.name, state.position, state.velocity): - joint_pos_dict[name] = round(pos, 12) - joint_vel_dict[name] = round(vel, 12) + state = resp.state + for name, pos, vel in zip(state.name, state.position, state.velocity): + joint_pos_dict[name] = round(pos, 12) + joint_vel_dict[name] = round(vel, 12) # ====== 2. 记录到历史数据里，用于之后画图 ====== t = time.time() - self._start_time diff --git a/clients/get_pose_client.py b/clients/get_pose_client.py index 95bff89..9f219d7 100644 --- a/clients/get_pose_client.py +++ b/clients/get_pose_client.py @@ -7,14 +7,14 @@ ensure_paths() from google.protobuf import timestamp_pb2 from clients.base_client import RobotClientBase -from cmvr.api import humanoid_robot_command_pb2 as pb -from cmvr.api import humanoid_robot_service_pb2_grpc as rpc +from cmvr.api import arm_command_pb2 as pb +from cmvr.api import arm_service_pb2_grpc as rpc class GetPoseClient(RobotClientBase): """Continuous client to fetch robot pose""" - def send(self, interval=0.5, device_id="hc01", base_link="PELVIS_S", ee_link="R_FINGER_TIP"): + def send(self, interval=0.5, device_id="right_arm", base_link="PELVIS_S", ee_link="R_FINGER_TIP"): """Continuously fetch pose and print in a fixed order""" try: while True: diff --git a/clients/movej_client.py b/clients/movej_client.py index d10ce11..ee04aa2 100644 --- a/clients/movej_client.py +++ b/clients/movej_client.py @@ -11,15 +11,15 @@ from google.protobuf import timestamp_pb2 from clients.base_client import RobotClientBase from clients.hand_client import DexHandClient from cmvr.api import common_pb2 -from cmvr.api import humanoid_robot_command_pb2 as pb -from cmvr.api import humanoid_robot_service_pb2_grpc as rpc +from cmvr.api import arm_command_pb2 as pb +from cmvr.api import arm_service_pb2_grpc as rpc class MoveJClient(RobotClientBase): """Client to send MoveJ commands to the robot""" - def send(self, joint_list, vel=1.0, acc=0.5, device_id="hc01"): + def send(self, joint_list, vel=1.0, acc=0.5, device_id="right_arm"): """ joint_list: list of dicts, e.g., [ @@ -31,8 +31,7 @@ class MoveJClient(RobotClientBase): acc: acceleration device_id: device ID """ - # Construct JointCmd list - cmds = [pb.JointCmd(joint_name=j["joint_name"], rad=j["rad"], vel=vel) for j in joint_list] + target = pb.JointPositionCommand(position=[j["rad"] for j in joint_list]) # Construct request header header = common_pb2.CommandHeader.Request() @@ -44,9 +43,8 @@ class MoveJClient(RobotClientBase): # Construct MoveJ request req = pb.MoveJ.Request( header=header, - vel=vel, - acc=acc, - cmds=cmds + target=target, + options=pb.MotionOptions(velocity=vel, acceleration=acc), ) # Call RPC diff --git a/clients/save_joint_to_csv.py b/clients/save_joint_to_csv.py index 28540f1..a32ea06 100644 --- a/clients/save_joint_to_csv.py +++ b/clients/save_joint_to_csv.py @@ -8,14 +8,14 @@ ensure_paths() from google.protobuf import timestamp_pb2 from clients.base_client import RobotClientBase -from cmvr.api import humanoid_robot_command_pb2 as pb -from cmvr.api import humanoid_robot_service_pb2_grpc as rpc +from cmvr.api import arm_command_pb2 as pb +from cmvr.api import arm_service_pb2_grpc as rpc class GetJointStateClient(RobotClientBase): """客户端：获取机械臂关节数据并保存到CSV""" - def fetch_and_save_joint_states(self, device_id="hc01"): + def fetch_and_save_joint_states(self, device_id="right_arm"): """获取关节数据一次并保存到CSV文件""" try: # 构建请求 @@ -40,9 +40,9 @@ class GetJointStateClient(RobotClientBase): # 将响应数据映射到字典 joint_dict = {} - for state in resp.state: - for name, pos in zip(state.name, state.position): - joint_dict[name] = round(pos, 6) + state = resp.state + for name, pos in zip(state.name, state.position): + joint_dict[name] = round(pos, 6) # 将角度从弧度转换为度 joint_list = [{"joint_name": name, "deg": round(joint_dict.get(name, 0.0) * 180 / math.pi, 10)} diff --git a/clients/servoj_client.py b/clients/servoj_client.py index a96ceb4..925ad07 100644 --- a/clients/servoj_client.py +++ b/clients/servoj_client.py @@ -20,14 +20,14 @@ from google.protobuf import timestamp_pb2 from clients.base_client import RobotClientBase from cmvr.api import common_pb2 -from cmvr.api import humanoid_robot_command_pb2 as pb -from cmvr.api import humanoid_robot_service_pb2_grpc as rpc +from cmvr.api import arm_command_pb2 as pb +from cmvr.api import arm_service_pb2_grpc as rpc class ServoJClient(RobotClientBase): """Client to send ServoJ commands to the robot""" - def send(self, joint_list, vel=1.0, device_id="hc01"): + def send(self, joint_list, vel=1.0, device_id="right_arm"): """ joint_list: list of dicts, e.g., [ @@ -35,12 +35,11 @@ class ServoJClient(RobotClientBase): ... ] """ - cmds = [pb.JointCmd(joint_name=j["joint_name"], rad=j["rad"], vel=vel) for j in joint_list] + target = pb.JointPositionCommand(position=[j["rad"] for j in joint_list]) req = pb.ServoJ.Request( header=self._create_header(device_id), - vel=vel, - cmds=cmds + target=target, ) try: @@ -255,4 +254,4 @@ if __name__ == "__main__": finally: plotter.stop() client.close() - print("Client closed") \ No newline at end of file + print("Client closed") diff --git a/clients/torque_key_client.py b/clients/torque_key_client.py index 045695e..e491287 100644 --- a/clients/torque_key_client.py +++ b/clients/torque_key_client.py @@ -10,14 +10,14 @@ from google.protobuf import timestamp_pb2 from clients.base_client import RobotClientBase from cmvr.api import common_pb2 -from cmvr.api import humanoid_robot_command_pb2 as pb -from cmvr.api import humanoid_robot_service_pb2_grpc as rpc +from cmvr.api import arm_command_pb2 as pb +from cmvr.api import arm_service_pb2_grpc as rpc class TorqueClient(RobotClientBase): """Client to control torque: on/off""" - def torque_on(self, device_id="hc01"): + def torque_on(self, device_id="right_arm"): req = common_pb2.CommandHeader.Request() req.device_id = device_id ts = timestamp_pb2.Timestamp() @@ -32,7 +32,7 @@ class TorqueClient(RobotClientBase): except Exception as e: print("TorqueOn RPC call failed:", e) - def torque_off(self, device_id="hc01"): + def torque_off(self, device_id="right_arm"): req = common_pb2.CommandHeader.Request() req.device_id = device_id ts = timestamp_pb2.Timestamp() diff --git a/clients/torque_off_client.py b/clients/torque_off_client.py index 293edf3..db5ad5c 100644 --- a/clients/torque_off_client.py +++ b/clients/torque_off_client.py @@ -6,14 +6,14 @@ from google.protobuf import timestamp_pb2 from clients.base_client import RobotClientBase from cmvr.api import common_pb2 -from cmvr.api import humanoid_robot_command_pb2 as pb -from cmvr.api import humanoid_robot_service_pb2_grpc as rpc +from cmvr.api import arm_command_pb2 as pb +from cmvr.api import arm_service_pb2_grpc as rpc class TorqueOffClient(RobotClientBase): """Client to send TorqueOff command""" - def send(self, device_id="hc01"): + def send(self, device_id="right_arm"): # Construct request header req = common_pb2.CommandHeader.Request() req.device_id = device_id @@ -37,7 +37,7 @@ if __name__ == "__main__": client = TorqueOffClient() # Send TorqueOff command - client.send(device_id="hc01") + client.send(device_id="right_arm") # Close client client.close() diff --git a/clients/torque_on_client.py b/clients/torque_on_client.py index df42df1..9077841 100644 --- a/clients/torque_on_client.py +++ b/clients/torque_on_client.py @@ -6,14 +6,14 @@ from google.protobuf import timestamp_pb2 from clients.base_client import RobotClientBase from cmvr.api import common_pb2 -from cmvr.api import humanoid_robot_command_pb2 as pb -from cmvr.api import humanoid_robot_service_pb2_grpc as rpc +from cmvr.api import arm_command_pb2 as pb +from cmvr.api import arm_service_pb2_grpc as rpc class TorqueOnClient(RobotClientBase): """发送 TorqueOn 指令客户端""" - def send(self, device_id="hc01"): + def send(self, device_id="right_arm"): # 构造请求头 req = common_pb2.CommandHeader.Request() req.device_id = device_id @@ -37,7 +37,7 @@ if __name__ == "__main__": client = TorqueOnClient() # 发送 TorqueOn 指令 - 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zI`D&>=?Cg7ODp(g{&%_2ZrLH3#Q*5vi?DxweUd|dOEjzE+Lvj9ehBgpT<#Yjlq)hq z>Yu6nf2kt+&*bd?Z=KRVGbye@d;g4O;yZj5-^pER?&d@U3^O=sg{X7_L{42_y}e*x zUtC#Sy@s!2_74_U*KWMIA`|xBzh2?vrE0VbP3er1H?Um9PBV={GRPC_GENERATED_VERSION}.' + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' diff --git a/generated/cmvr/api/arm_service_pb2.py b/generated/cmvr/api/arm_service_pb2.py new file mode 100644 index 0000000..133fa4b --- /dev/null +++ b/generated/cmvr/api/arm_service_pb2.py @@ -0,0 +1,38 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# NO CHECKED-IN PROTOBUF GENCODE +# source: cmvr/api/arm_service.proto +# Protobuf Python Version: 6.31.1 +"""Generated protocol buffer code.""" +from google.protobuf import descriptor as _descriptor +from google.protobuf import descriptor_pool as _descriptor_pool +from google.protobuf import runtime_version as _runtime_version +from google.protobuf import symbol_database as _symbol_database +from google.protobuf.internal import builder as _builder +_runtime_version.ValidateProtobufRuntimeVersion( + _runtime_version.Domain.PUBLIC, + 6, + 31, + 1, + '', + 'cmvr/api/arm_service.proto' +) +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + +from cmvr.api import common_pb2 as cmvr_dot_api_dot_common__pb2 +from cmvr.api import arm_command_pb2 as cmvr_dot_api_dot_arm__command__pb2 + + +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1a\x63mvr/api/arm_service.proto\x12\x08\x63mvr.api\x1a\x15\x63mvr/api/common.proto\x1a\x1a\x63mvr/api/arm_command.proto2\xd5\x07\n\nArmService\x12N\n\ttorqueOff\x12\x1f.cmvr.api.CommandHeader.Request\x1a .cmvr.api.CommandHeader.Feedback\x12M\n\x08torqueOn\x12\x1f.cmvr.api.CommandHeader.Request\x1a .cmvr.api.CommandHeader.Feedback\x12:\n\x05moveJ\x12\x17.cmvr.api.MoveJ.Request\x1a\x18.cmvr.api.MoveJ.Response\x12:\n\x05moveL\x12\x17.cmvr.api.MoveL.Request\x1a\x18.cmvr.api.MoveL.Response\x12=\n\x06speedJ\x12\x18.cmvr.api.SpeedJ.Request\x1a\x19.cmvr.api.SpeedJ.Response\x12=\n\x06speedL\x12\x18.cmvr.api.SpeedL.Request\x1a\x19.cmvr.api.SpeedL.Response\x12=\n\x06servoJ\x12\x18.cmvr.api.ServoJ.Request\x1a\x19.cmvr.api.ServoJ.Response\x12O\n\nstopMotion\x12\x1f.cmvr.api.CommandHeader.Request\x1a .cmvr.api.CommandHeader.Feedback\x12@\n\rgetJointState\x12\x16.cmvr.api.JointRequest\x1a\x17.cmvr.api.JointResponse\x12@\n\x07getPose\x12\x19.cmvr.api.GetPose.Request\x1a\x1a.cmvr.api.GetPose.Response\x12U\n\x0e\x63\x61librateZeroQ\x12 .cmvr.api.CalibrateZeroQ.Request\x1a!.cmvr.api.CalibrateZeroQ.Response\x12R\n\rgetPoseMatrix\x12\x1f.cmvr.api.GetPoseMatrix.Request\x1a .cmvr.api.GetPoseMatrix.Response\x12s\n\x18\x63omputeForwardKinematics\x12*.cmvr.api.ComputeForwardKinematics.Request\x1a+.cmvr.api.ComputeForwardKinematics.Responseb\x06proto3') + +_globals = globals() +_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) +_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.api.arm_service_pb2', _globals) +if not _descriptor._USE_C_DESCRIPTORS: + DESCRIPTOR._loaded_options = None + _globals['_ARMSERVICE']._serialized_start=92 + _globals['_ARMSERVICE']._serialized_end=1073 +# @@protoc_insertion_point(module_scope) diff --git a/generated/cmvr/api/humanoid_robot_service_pb2_grpc.py b/generated/cmvr/api/arm_service_pb2_grpc.py similarity index 63% rename from generated/cmvr/api/humanoid_robot_service_pb2_grpc.py rename to generated/cmvr/api/arm_service_pb2_grpc.py index 6536b92..c319603 100644 --- a/generated/cmvr/api/humanoid_robot_service_pb2_grpc.py +++ b/generated/cmvr/api/arm_service_pb2_grpc.py @@ -3,8 +3,8 @@ import grpc import warnings +from cmvr.api import arm_command_pb2 as cmvr_dot_api_dot_arm__command__pb2 from cmvr.api import common_pb2 as cmvr_dot_api_dot_common__pb2 -from cmvr.api import humanoid_robot_command_pb2 as cmvr_dot_api_dot_humanoid__robot__command__pb2 GRPC_GENERATED_VERSION = '1.76.0' GRPC_VERSION = grpc.__version__ @@ -19,14 +19,14 @@ except ImportError: if _version_not_supported: raise RuntimeError( f'The grpc package installed is at version {GRPC_VERSION},' - + ' but the generated code in cmvr/api/humanoid_robot_service_pb2_grpc.py depends on' + + ' but the generated code in cmvr/api/arm_service_pb2_grpc.py depends on' + f' grpcio>={GRPC_GENERATED_VERSION}.' + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' ) -class HumanoidRobotServiceStub(object): +class ArmServiceStub(object): """Missing associated documentation comment in .proto file.""" def __init__(self, channel): @@ -36,68 +36,73 @@ class HumanoidRobotServiceStub(object): channel: A grpc.Channel. """ self.torqueOff = channel.unary_unary( - '/cmvr.api.HumanoidRobotService/torqueOff', + '/cmvr.api.ArmService/torqueOff', request_serializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Request.SerializeToString, response_deserializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.FromString, _registered_method=True) self.torqueOn = channel.unary_unary( - '/cmvr.api.HumanoidRobotService/torqueOn', + '/cmvr.api.ArmService/torqueOn', request_serializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Request.SerializeToString, response_deserializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.FromString, _registered_method=True) self.moveJ = channel.unary_unary( - '/cmvr.api.HumanoidRobotService/moveJ', - request_serializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.MoveJ.Request.SerializeToString, - response_deserializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.MoveJ.Response.FromString, + '/cmvr.api.ArmService/moveJ', + request_serializer=cmvr_dot_api_dot_arm__command__pb2.MoveJ.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_arm__command__pb2.MoveJ.Response.FromString, _registered_method=True) self.moveL = channel.unary_unary( - '/cmvr.api.HumanoidRobotService/moveL', - request_serializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.MoveL.Request.SerializeToString, - response_deserializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.MoveL.Response.FromString, + '/cmvr.api.ArmService/moveL', + request_serializer=cmvr_dot_api_dot_arm__command__pb2.MoveL.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_arm__command__pb2.MoveL.Response.FromString, _registered_method=True) self.speedJ = channel.unary_unary( - '/cmvr.api.HumanoidRobotService/speedJ', - request_serializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.SpeedJ.Request.SerializeToString, - response_deserializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.SpeedJ.Response.FromString, + '/cmvr.api.ArmService/speedJ', + request_serializer=cmvr_dot_api_dot_arm__command__pb2.SpeedJ.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_arm__command__pb2.SpeedJ.Response.FromString, _registered_method=True) self.speedL = channel.unary_unary( - '/cmvr.api.HumanoidRobotService/speedL', - request_serializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.SpeedL.Request.SerializeToString, - response_deserializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.SpeedL.Response.FromString, - _registered_method=True) - self.getJointState = channel.unary_unary( - '/cmvr.api.HumanoidRobotService/getJointState', - request_serializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.JointRequest.SerializeToString, - response_deserializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.JointResponse.FromString, - _registered_method=True) - self.getPose = channel.unary_unary( - '/cmvr.api.HumanoidRobotService/getPose', - request_serializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.GetPose.Request.SerializeToString, - response_deserializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.GetPose.Response.FromString, - _registered_method=True) - self.calibrateZeroQ = channel.unary_unary( - '/cmvr.api.HumanoidRobotService/calibrateZeroQ', - request_serializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.CalibrateZeroQ.Request.SerializeToString, - response_deserializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.CalibrateZeroQ.Response.FromString, + '/cmvr.api.ArmService/speedL', + request_serializer=cmvr_dot_api_dot_arm__command__pb2.SpeedL.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_arm__command__pb2.SpeedL.Response.FromString, _registered_method=True) self.servoJ = channel.unary_unary( - '/cmvr.api.HumanoidRobotService/servoJ', - request_serializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.ServoJ.Request.SerializeToString, - response_deserializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.ServoJ.Response.FromString, + '/cmvr.api.ArmService/servoJ', + request_serializer=cmvr_dot_api_dot_arm__command__pb2.ServoJ.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_arm__command__pb2.ServoJ.Response.FromString, + _registered_method=True) + self.stopMotion = channel.unary_unary( + '/cmvr.api.ArmService/stopMotion', + request_serializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.FromString, + _registered_method=True) + self.getJointState = channel.unary_unary( + '/cmvr.api.ArmService/getJointState', + request_serializer=cmvr_dot_api_dot_arm__command__pb2.JointRequest.SerializeToString, + response_deserializer=cmvr_dot_api_dot_arm__command__pb2.JointResponse.FromString, + _registered_method=True) + self.getPose = channel.unary_unary( + '/cmvr.api.ArmService/getPose', + request_serializer=cmvr_dot_api_dot_arm__command__pb2.GetPose.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_arm__command__pb2.GetPose.Response.FromString, + _registered_method=True) + self.calibrateZeroQ = channel.unary_unary( + '/cmvr.api.ArmService/calibrateZeroQ', + request_serializer=cmvr_dot_api_dot_arm__command__pb2.CalibrateZeroQ.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_arm__command__pb2.CalibrateZeroQ.Response.FromString, _registered_method=True) self.getPoseMatrix = channel.unary_unary( - '/cmvr.api.HumanoidRobotService/getPoseMatrix', - request_serializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.GetPoseMatrix.Request.SerializeToString, - response_deserializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.GetPoseMatrix.Response.FromString, + '/cmvr.api.ArmService/getPoseMatrix', + request_serializer=cmvr_dot_api_dot_arm__command__pb2.GetPoseMatrix.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_arm__command__pb2.GetPoseMatrix.Response.FromString, _registered_method=True) self.computeForwardKinematics = channel.unary_unary( - '/cmvr.api.HumanoidRobotService/computeForwardKinematics', - request_serializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.ComputeForwardKinematics.Request.SerializeToString, - response_deserializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.ComputeForwardKinematics.Response.FromString, + '/cmvr.api.ArmService/computeForwardKinematics', + request_serializer=cmvr_dot_api_dot_arm__command__pb2.ComputeForwardKinematics.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_arm__command__pb2.ComputeForwardKinematics.Response.FromString, _registered_method=True) -class HumanoidRobotServiceServicer(object): +class ArmServiceServicer(object): """Missing associated documentation comment in .proto file.""" def torqueOff(self, request, context): @@ -136,6 +141,18 @@ class HumanoidRobotServiceServicer(object): context.set_details('Method not implemented!') raise NotImplementedError('Method not implemented!') + def servoJ(self, request, context): + """Missing associated documentation comment in .proto file.""" + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + def stopMotion(self, request, context): + """Missing associated documentation comment in .proto file.""" + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + def getJointState(self, request, context): """Missing associated documentation comment in .proto file.""" context.set_code(grpc.StatusCode.UNIMPLEMENTED) @@ -154,12 +171,6 @@ class HumanoidRobotServiceServicer(object): context.set_details('Method not implemented!') raise NotImplementedError('Method not implemented!') - def servoJ(self, request, context): - """Missing associated documentation comment in .proto file.""" - context.set_code(grpc.StatusCode.UNIMPLEMENTED) - context.set_details('Method not implemented!') - raise NotImplementedError('Method not implemented!') - def getPoseMatrix(self, request, context): """Missing associated documentation comment in .proto file.""" context.set_code(grpc.StatusCode.UNIMPLEMENTED) @@ -173,7 +184,7 @@ class HumanoidRobotServiceServicer(object): raise NotImplementedError('Method not implemented!') -def add_HumanoidRobotServiceServicer_to_server(servicer, server): +def add_ArmServiceServicer_to_server(servicer, server): rpc_method_handlers = { 'torqueOff': grpc.unary_unary_rpc_method_handler( servicer.torqueOff, @@ -187,63 +198,68 @@ def add_HumanoidRobotServiceServicer_to_server(servicer, server): ), 'moveJ': grpc.unary_unary_rpc_method_handler( servicer.moveJ, - request_deserializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.MoveJ.Request.FromString, - response_serializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.MoveJ.Response.SerializeToString, + request_deserializer=cmvr_dot_api_dot_arm__command__pb2.MoveJ.Request.FromString, + response_serializer=cmvr_dot_api_dot_arm__command__pb2.MoveJ.Response.SerializeToString, ), 'moveL': grpc.unary_unary_rpc_method_handler( servicer.moveL, - request_deserializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.MoveL.Request.FromString, - response_serializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.MoveL.Response.SerializeToString, + request_deserializer=cmvr_dot_api_dot_arm__command__pb2.MoveL.Request.FromString, + response_serializer=cmvr_dot_api_dot_arm__command__pb2.MoveL.Response.SerializeToString, ), 'speedJ': grpc.unary_unary_rpc_method_handler( servicer.speedJ, - request_deserializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.SpeedJ.Request.FromString, - response_serializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.SpeedJ.Response.SerializeToString, + request_deserializer=cmvr_dot_api_dot_arm__command__pb2.SpeedJ.Request.FromString, + response_serializer=cmvr_dot_api_dot_arm__command__pb2.SpeedJ.Response.SerializeToString, ), 'speedL': grpc.unary_unary_rpc_method_handler( servicer.speedL, - request_deserializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.SpeedL.Request.FromString, - response_serializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.SpeedL.Response.SerializeToString, - ), - 'getJointState': grpc.unary_unary_rpc_method_handler( - servicer.getJointState, - request_deserializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.JointRequest.FromString, - response_serializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.JointResponse.SerializeToString, - ), - 'getPose': grpc.unary_unary_rpc_method_handler( - servicer.getPose, - request_deserializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.GetPose.Request.FromString, - response_serializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.GetPose.Response.SerializeToString, - ), - 'calibrateZeroQ': grpc.unary_unary_rpc_method_handler( - servicer.calibrateZeroQ, - request_deserializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.CalibrateZeroQ.Request.FromString, - response_serializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.CalibrateZeroQ.Response.SerializeToString, + request_deserializer=cmvr_dot_api_dot_arm__command__pb2.SpeedL.Request.FromString, + response_serializer=cmvr_dot_api_dot_arm__command__pb2.SpeedL.Response.SerializeToString, ), 'servoJ': grpc.unary_unary_rpc_method_handler( servicer.servoJ, - request_deserializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.ServoJ.Request.FromString, - response_serializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.ServoJ.Response.SerializeToString, + request_deserializer=cmvr_dot_api_dot_arm__command__pb2.ServoJ.Request.FromString, + response_serializer=cmvr_dot_api_dot_arm__command__pb2.ServoJ.Response.SerializeToString, + ), + 'stopMotion': grpc.unary_unary_rpc_method_handler( + servicer.stopMotion, + request_deserializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Request.FromString, + response_serializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.SerializeToString, + ), + 'getJointState': grpc.unary_unary_rpc_method_handler( + servicer.getJointState, + request_deserializer=cmvr_dot_api_dot_arm__command__pb2.JointRequest.FromString, + response_serializer=cmvr_dot_api_dot_arm__command__pb2.JointResponse.SerializeToString, + ), + 'getPose': grpc.unary_unary_rpc_method_handler( + servicer.getPose, + request_deserializer=cmvr_dot_api_dot_arm__command__pb2.GetPose.Request.FromString, + response_serializer=cmvr_dot_api_dot_arm__command__pb2.GetPose.Response.SerializeToString, + ), + 'calibrateZeroQ': grpc.unary_unary_rpc_method_handler( + servicer.calibrateZeroQ, + request_deserializer=cmvr_dot_api_dot_arm__command__pb2.CalibrateZeroQ.Request.FromString, + response_serializer=cmvr_dot_api_dot_arm__command__pb2.CalibrateZeroQ.Response.SerializeToString, ), 'getPoseMatrix': grpc.unary_unary_rpc_method_handler( servicer.getPoseMatrix, - request_deserializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.GetPoseMatrix.Request.FromString, - response_serializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.GetPoseMatrix.Response.SerializeToString, + request_deserializer=cmvr_dot_api_dot_arm__command__pb2.GetPoseMatrix.Request.FromString, + response_serializer=cmvr_dot_api_dot_arm__command__pb2.GetPoseMatrix.Response.SerializeToString, ), 'computeForwardKinematics': grpc.unary_unary_rpc_method_handler( servicer.computeForwardKinematics, - request_deserializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.ComputeForwardKinematics.Request.FromString, - response_serializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.ComputeForwardKinematics.Response.SerializeToString, + request_deserializer=cmvr_dot_api_dot_arm__command__pb2.ComputeForwardKinematics.Request.FromString, + response_serializer=cmvr_dot_api_dot_arm__command__pb2.ComputeForwardKinematics.Response.SerializeToString, ), } generic_handler = grpc.method_handlers_generic_handler( - 'cmvr.api.HumanoidRobotService', rpc_method_handlers) + 'cmvr.api.ArmService', rpc_method_handlers) server.add_generic_rpc_handlers((generic_handler,)) - server.add_registered_method_handlers('cmvr.api.HumanoidRobotService', rpc_method_handlers) + server.add_registered_method_handlers('cmvr.api.ArmService', rpc_method_handlers) # This class is part of an EXPERIMENTAL API. -class HumanoidRobotService(object): +class ArmService(object): """Missing associated documentation comment in .proto file.""" @staticmethod @@ -260,7 +276,7 @@ class HumanoidRobotService(object): return grpc.experimental.unary_unary( request, target, - '/cmvr.api.HumanoidRobotService/torqueOff', + '/cmvr.api.ArmService/torqueOff', cmvr_dot_api_dot_common__pb2.CommandHeader.Request.SerializeToString, cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.FromString, options, @@ -287,7 +303,7 @@ class HumanoidRobotService(object): return grpc.experimental.unary_unary( request, target, - '/cmvr.api.HumanoidRobotService/torqueOn', + '/cmvr.api.ArmService/torqueOn', cmvr_dot_api_dot_common__pb2.CommandHeader.Request.SerializeToString, cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.FromString, options, @@ -314,9 +330,9 @@ class HumanoidRobotService(object): return grpc.experimental.unary_unary( request, target, - '/cmvr.api.HumanoidRobotService/moveJ', - cmvr_dot_api_dot_humanoid__robot__command__pb2.MoveJ.Request.SerializeToString, - cmvr_dot_api_dot_humanoid__robot__command__pb2.MoveJ.Response.FromString, + '/cmvr.api.ArmService/moveJ', + cmvr_dot_api_dot_arm__command__pb2.MoveJ.Request.SerializeToString, + cmvr_dot_api_dot_arm__command__pb2.MoveJ.Response.FromString, options, channel_credentials, insecure, @@ -341,9 +357,9 @@ class HumanoidRobotService(object): return grpc.experimental.unary_unary( request, target, - '/cmvr.api.HumanoidRobotService/moveL', - cmvr_dot_api_dot_humanoid__robot__command__pb2.MoveL.Request.SerializeToString, - cmvr_dot_api_dot_humanoid__robot__command__pb2.MoveL.Response.FromString, + '/cmvr.api.ArmService/moveL', + cmvr_dot_api_dot_arm__command__pb2.MoveL.Request.SerializeToString, + cmvr_dot_api_dot_arm__command__pb2.MoveL.Response.FromString, options, channel_credentials, insecure, @@ -368,9 +384,9 @@ class HumanoidRobotService(object): return grpc.experimental.unary_unary( request, target, - '/cmvr.api.HumanoidRobotService/speedJ', - cmvr_dot_api_dot_humanoid__robot__command__pb2.SpeedJ.Request.SerializeToString, - cmvr_dot_api_dot_humanoid__robot__command__pb2.SpeedJ.Response.FromString, + '/cmvr.api.ArmService/speedJ', + cmvr_dot_api_dot_arm__command__pb2.SpeedJ.Request.SerializeToString, + cmvr_dot_api_dot_arm__command__pb2.SpeedJ.Response.FromString, options, channel_credentials, insecure, @@ -395,90 +411,9 @@ class HumanoidRobotService(object): return grpc.experimental.unary_unary( request, target, - '/cmvr.api.HumanoidRobotService/speedL', - cmvr_dot_api_dot_humanoid__robot__command__pb2.SpeedL.Request.SerializeToString, - cmvr_dot_api_dot_humanoid__robot__command__pb2.SpeedL.Response.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) - - @staticmethod - def getJointState(request, - target, - options=(), - channel_credentials=None, - call_credentials=None, - insecure=False, - compression=None, - wait_for_ready=None, - timeout=None, - metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/cmvr.api.HumanoidRobotService/getJointState', - cmvr_dot_api_dot_humanoid__robot__command__pb2.JointRequest.SerializeToString, - cmvr_dot_api_dot_humanoid__robot__command__pb2.JointResponse.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) - - @staticmethod - def getPose(request, - target, - options=(), - channel_credentials=None, - call_credentials=None, - insecure=False, - compression=None, - wait_for_ready=None, - timeout=None, - metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/cmvr.api.HumanoidRobotService/getPose', - cmvr_dot_api_dot_humanoid__robot__command__pb2.GetPose.Request.SerializeToString, - cmvr_dot_api_dot_humanoid__robot__command__pb2.GetPose.Response.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) - - @staticmethod - def calibrateZeroQ(request, - target, - options=(), - channel_credentials=None, - call_credentials=None, - insecure=False, - compression=None, - wait_for_ready=None, - timeout=None, - metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/cmvr.api.HumanoidRobotService/calibrateZeroQ', - cmvr_dot_api_dot_humanoid__robot__command__pb2.CalibrateZeroQ.Request.SerializeToString, - cmvr_dot_api_dot_humanoid__robot__command__pb2.CalibrateZeroQ.Response.FromString, + '/cmvr.api.ArmService/speedL', + cmvr_dot_api_dot_arm__command__pb2.SpeedL.Request.SerializeToString, + cmvr_dot_api_dot_arm__command__pb2.SpeedL.Response.FromString, options, channel_credentials, insecure, @@ -503,9 +438,117 @@ class HumanoidRobotService(object): return grpc.experimental.unary_unary( request, target, - '/cmvr.api.HumanoidRobotService/servoJ', - cmvr_dot_api_dot_humanoid__robot__command__pb2.ServoJ.Request.SerializeToString, - cmvr_dot_api_dot_humanoid__robot__command__pb2.ServoJ.Response.FromString, + '/cmvr.api.ArmService/servoJ', + cmvr_dot_api_dot_arm__command__pb2.ServoJ.Request.SerializeToString, + cmvr_dot_api_dot_arm__command__pb2.ServoJ.Response.FromString, + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) + + @staticmethod + def stopMotion(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary( + request, + target, + '/cmvr.api.ArmService/stopMotion', + cmvr_dot_api_dot_common__pb2.CommandHeader.Request.SerializeToString, + cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.FromString, + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) + + @staticmethod + def getJointState(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary( + request, + target, + '/cmvr.api.ArmService/getJointState', + cmvr_dot_api_dot_arm__command__pb2.JointRequest.SerializeToString, + cmvr_dot_api_dot_arm__command__pb2.JointResponse.FromString, + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) + + @staticmethod + def getPose(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary( + request, + target, + '/cmvr.api.ArmService/getPose', + cmvr_dot_api_dot_arm__command__pb2.GetPose.Request.SerializeToString, + cmvr_dot_api_dot_arm__command__pb2.GetPose.Response.FromString, + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) + + @staticmethod + def calibrateZeroQ(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary( + request, + target, + '/cmvr.api.ArmService/calibrateZeroQ', + cmvr_dot_api_dot_arm__command__pb2.CalibrateZeroQ.Request.SerializeToString, + cmvr_dot_api_dot_arm__command__pb2.CalibrateZeroQ.Response.FromString, options, channel_credentials, insecure, @@ -530,9 +573,9 @@ class HumanoidRobotService(object): return grpc.experimental.unary_unary( request, target, - '/cmvr.api.HumanoidRobotService/getPoseMatrix', - cmvr_dot_api_dot_humanoid__robot__command__pb2.GetPoseMatrix.Request.SerializeToString, - cmvr_dot_api_dot_humanoid__robot__command__pb2.GetPoseMatrix.Response.FromString, + '/cmvr.api.ArmService/getPoseMatrix', + cmvr_dot_api_dot_arm__command__pb2.GetPoseMatrix.Request.SerializeToString, + cmvr_dot_api_dot_arm__command__pb2.GetPoseMatrix.Response.FromString, options, channel_credentials, insecure, @@ -557,9 +600,9 @@ class HumanoidRobotService(object): return grpc.experimental.unary_unary( request, target, - '/cmvr.api.HumanoidRobotService/computeForwardKinematics', - cmvr_dot_api_dot_humanoid__robot__command__pb2.ComputeForwardKinematics.Request.SerializeToString, - cmvr_dot_api_dot_humanoid__robot__command__pb2.ComputeForwardKinematics.Response.FromString, + '/cmvr.api.ArmService/computeForwardKinematics', + cmvr_dot_api_dot_arm__command__pb2.ComputeForwardKinematics.Request.SerializeToString, + cmvr_dot_api_dot_arm__command__pb2.ComputeForwardKinematics.Response.FromString, options, channel_credentials, insecure, diff --git a/generated/cmvr/api/humanoid_robot_command_pb2.py b/generated/cmvr/api/humanoid_robot_command_pb2.py deleted file mode 100644 index c8c95a5..0000000 --- a/generated/cmvr/api/humanoid_robot_command_pb2.py +++ /dev/null @@ -1,105 +0,0 @@ -# -*- coding: utf-8 -*- -# Generated by the protocol buffer compiler. DO NOT EDIT! -# NO CHECKED-IN PROTOBUF GENCODE -# source: cmvr/api/humanoid_robot_command.proto -# Protobuf Python Version: 6.31.1 -"""Generated protocol buffer code.""" -from google.protobuf import descriptor as _descriptor -from google.protobuf import descriptor_pool as _descriptor_pool -from google.protobuf import runtime_version as _runtime_version -from google.protobuf import symbol_database as _symbol_database -from google.protobuf.internal import builder as _builder -_runtime_version.ValidateProtobufRuntimeVersion( - _runtime_version.Domain.PUBLIC, - 6, - 31, - 1, - '', - 'cmvr/api/humanoid_robot_command.proto' -) -# @@protoc_insertion_point(imports) - -_sym_db = _symbol_database.Default() - - -from cmvr.api import common_pb2 as cmvr_dot_api_dot_common__pb2 - - -DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n%cmvr/api/humanoid_robot_command.proto\x12\x08\x63mvr.api\x1a\x15\x63mvr/api/common.proto\"8\n\x08JointCmd\x12\x12\n\njoint_name\x18\x01 \x01(\t\x12\x0b\n\x03rad\x18\x02 \x01(\x01\x12\x0b\n\x03vel\x18\x03 \x01(\x01\"M\n\x06Pose3D\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\"\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\"\xbd\x01\n\x05MoveJ\x1av\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12 \n\x04\x63mds\x18\x02 \x03(\x0b\x32\x12.cmvr.api.JointCmd\x12\x0b\n\x03vel\x18\x03 \x01(\x01\x12\x0b\n\x03\x61\x63\x63\x18\x04 \x01(\x01\x1a<\n\x08Response\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\xc7\x01\n\x07GetPose\x1a^\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12\x11\n\tbase_link\x18\x02 \x01(\t\x12\x0f\n\x07\x65\x65_link\x18\x03 \x01(\t\x1a\\\n\x08Response\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12\x1e\n\x04pose\x18\x02 \x01(\x0b\x32\x10.cmvr.api.Pose3D\"\xd3\x01\n\x05MoveL\x1a\x8b\x01\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12\x0f\n\x07\x65\x65_link\x18\x02 \x01(\t\x12$\n\ntargetPose\x18\x03 \x01(\x0b\x32\x10.cmvr.api.Pose3D\x12\x0b\n\x03vel\x18\x04 \x01(\x01\x12\x0b\n\x03\x61\x63\x63\x18\x05 \x01(\x01\x1a<\n\x08Response\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\xe2\x01\n\x06SpeedJ\x1a\x99\x01\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12\x12\n\njoint_name\x18\x02 \x01(\t\x12\x0b\n\x03vel\x18\x03 \x01(\x01\x12\x0b\n\x03\x61\x63\x63\x18\x04 \x01(\x01\x12/\n\x03\x64ir\x18\x05 \x01(\x0e\x32\".cmvr.api.RobotJointIndexDirection\x1a<\n\x08Response\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\x87\x02\n\x06SpeedL\x1a\xbe\x01\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12\x0f\n\x07\x65\x65_link\x18\x02 \x01(\t\x12\x0b\n\x03vel\x18\x03 \x01(\x01\x12\x0b\n\x03\x61\x63\x63\x18\x04 \x01(\x01\x12/\n\x03\x64ir\x18\x05 \x01(\x0e\x32\".cmvr.api.RobotJointIndexDirection\x12&\n\x04\x63\x61rt\x18\x06 \x01(\x0e\x32\x18.cmvr.api.RobotCartesian\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 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.cmvr.api.CommandHeader.Feedback\"\xdb\x01\n\rGetPoseMatrix\x1a^\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12\x11\n\tbase_link\x18\x02 \x01(\t\x12\x0f\n\x07\x65\x65_link\x18\x03 \x01(\t\x1aj\n\x08Response\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12,\n\x06matrix\x18\x02 \x01(\x0b\x32\x1c.cmvr.api.TransformMatrix4x4\"\x8b\x02\n\x18\x43omputeForwardKinematics\x1a\x82\x01\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12\x11\n\tbase_link\x18\x02 \x01(\t\x12\x0f\n\x07\x65\x65_link\x18\x03 \x01(\t\x12\"\n\x06joints\x18\x04 \x03(\x0b\x32\x12.cmvr.api.JointCmd\x1aj\n\x08Response\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12,\n\x06matrix\x18\x02 \x01(\x0b\x32\x1c.cmvr.api.TransformMatrix4x4*=\n\x0eRobotCartesian\x12\x05\n\x01X\x10\x00\x12\x05\n\x01Y\x10\x01\x12\x05\n\x01Z\x10\x02\x12\x06\n\x02RX\x10\x03\x12\x06\n\x02RY\x10\x04\x12\x06\n\x02RZ\x10\x05*\xbf\x01\n\x18RobotJointIndexDirection\x12\x0b\n\x07\x46ORWARD\x10\x00\x12\x0c\n\x08\x42\x41\x43KWARD\x10\x01\x12\x0e\n\nX_POSITIVE\x10\x02\x12\x0e\n\nX_NEGATIVE\x10\x03\x12\x0e\n\nY_POSITIVE\x10\x04\x12\x0e\n\nY_NEGATIVE\x10\x05\x12\x0e\n\nZ_POSITIVE\x10\x06\x12\x0e\n\nZ_NEGATIVE\x10\x07\x12\x0c\n\x08ROTATE_X\x10\x08\x12\x0c\n\x08ROTATE_Y\x10\t\x12\x0c\n\x08ROTATE_Z\x10\nb\x06proto3') - -_globals = globals() -_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) -_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.api.humanoid_robot_command_pb2', _globals) -if not _descriptor._USE_C_DESCRIPTORS: - DESCRIPTOR._loaded_options = None - _globals['_ROBOTCARTESIAN']._serialized_start=2646 - _globals['_ROBOTCARTESIAN']._serialized_end=2707 - _globals['_ROBOTJOINTINDEXDIRECTION']._serialized_start=2710 - _globals['_ROBOTJOINTINDEXDIRECTION']._serialized_end=2901 - _globals['_JOINTCMD']._serialized_start=74 - _globals['_JOINTCMD']._serialized_end=130 - _globals['_POSE3D']._serialized_start=132 - _globals['_POSE3D']._serialized_end=209 - _globals['_TRANSFORMMATRIX4X4']._serialized_start=212 - _globals['_TRANSFORMMATRIX4X4']._serialized_end=440 - _globals['_MOVEJ']._serialized_start=443 - _globals['_MOVEJ']._serialized_end=632 - _globals['_MOVEJ_REQUEST']._serialized_start=452 - _globals['_MOVEJ_REQUEST']._serialized_end=570 - _globals['_MOVEJ_RESPONSE']._serialized_start=572 - _globals['_MOVEJ_RESPONSE']._serialized_end=632 - _globals['_GETPOSE']._serialized_start=635 - _globals['_GETPOSE']._serialized_end=834 - _globals['_GETPOSE_REQUEST']._serialized_start=646 - _globals['_GETPOSE_REQUEST']._serialized_end=740 - _globals['_GETPOSE_RESPONSE']._serialized_start=742 - _globals['_GETPOSE_RESPONSE']._serialized_end=834 - _globals['_MOVEL']._serialized_start=837 - _globals['_MOVEL']._serialized_end=1048 - _globals['_MOVEL_REQUEST']._serialized_start=847 - _globals['_MOVEL_REQUEST']._serialized_end=986 - _globals['_MOVEL_RESPONSE']._serialized_start=572 - _globals['_MOVEL_RESPONSE']._serialized_end=632 - _globals['_SPEEDJ']._serialized_start=1051 - _globals['_SPEEDJ']._serialized_end=1277 - _globals['_SPEEDJ_REQUEST']._serialized_start=1062 - _globals['_SPEEDJ_REQUEST']._serialized_end=1215 - _globals['_SPEEDJ_RESPONSE']._serialized_start=572 - _globals['_SPEEDJ_RESPONSE']._serialized_end=632 - _globals['_SPEEDL']._serialized_start=1280 - _globals['_SPEEDL']._serialized_end=1543 - _globals['_SPEEDL_REQUEST']._serialized_start=1291 - _globals['_SPEEDL_REQUEST']._serialized_end=1481 - _globals['_SPEEDL_RESPONSE']._serialized_start=572 - _globals['_SPEEDL_RESPONSE']._serialized_end=632 - _globals['_JOINTSTATE']._serialized_start=1545 - _globals['_JOINTSTATE']._serialized_end=1642 - _globals['_JOINTRESPONSE']._serialized_start=1644 - _globals['_JOINTRESPONSE']._serialized_end=1746 - _globals['_JOINTREQUEST']._serialized_start=1748 - _globals['_JOINTREQUEST']._serialized_end=1811 - _globals['_CALIBRATEZEROQ']._serialized_start=1814 - _globals['_CALIBRATEZEROQ']._serialized_end=1972 - _globals['_CALIBRATEZEROQ_REQUEST']._serialized_start=1062 - _globals['_CALIBRATEZEROQ_REQUEST']._serialized_end=1140 - _globals['_CALIBRATEZEROQ_RESPONSE']._serialized_start=572 - _globals['_CALIBRATEZEROQ_RESPONSE']._serialized_end=632 - _globals['_SERVOJ']._serialized_start=1975 - _globals['_SERVOJ']._serialized_end=2152 - _globals['_SERVOJ_REQUEST']._serialized_start=452 - _globals['_SERVOJ_REQUEST']._serialized_end=557 - _globals['_SERVOJ_RESPONSE']._serialized_start=572 - _globals['_SERVOJ_RESPONSE']._serialized_end=632 - _globals['_GETPOSEMATRIX']._serialized_start=2155 - _globals['_GETPOSEMATRIX']._serialized_end=2374 - _globals['_GETPOSEMATRIX_REQUEST']._serialized_start=646 - _globals['_GETPOSEMATRIX_REQUEST']._serialized_end=740 - _globals['_GETPOSEMATRIX_RESPONSE']._serialized_start=2268 - _globals['_GETPOSEMATRIX_RESPONSE']._serialized_end=2374 - _globals['_COMPUTEFORWARDKINEMATICS']._serialized_start=2377 - _globals['_COMPUTEFORWARDKINEMATICS']._serialized_end=2644 - _globals['_COMPUTEFORWARDKINEMATICS_REQUEST']._serialized_start=2406 - _globals['_COMPUTEFORWARDKINEMATICS_REQUEST']._serialized_end=2536 - _globals['_COMPUTEFORWARDKINEMATICS_RESPONSE']._serialized_start=2268 - _globals['_COMPUTEFORWARDKINEMATICS_RESPONSE']._serialized_end=2374 -# @@protoc_insertion_point(module_scope) diff --git a/generated/cmvr/api/humanoid_robot_service_pb2.py b/generated/cmvr/api/humanoid_robot_service_pb2.py deleted file mode 100644 index 822a742..0000000 --- a/generated/cmvr/api/humanoid_robot_service_pb2.py +++ /dev/null @@ -1,38 +0,0 @@ -# -*- coding: utf-8 -*- -# Generated by the protocol buffer compiler. DO NOT EDIT! -# NO CHECKED-IN PROTOBUF GENCODE -# source: cmvr/api/humanoid_robot_service.proto -# Protobuf Python Version: 6.31.1 -"""Generated protocol buffer code.""" -from google.protobuf import descriptor as _descriptor -from google.protobuf import descriptor_pool as _descriptor_pool -from google.protobuf import runtime_version as _runtime_version -from google.protobuf import symbol_database as _symbol_database -from google.protobuf.internal import builder as _builder -_runtime_version.ValidateProtobufRuntimeVersion( - _runtime_version.Domain.PUBLIC, - 6, - 31, - 1, - '', - 'cmvr/api/humanoid_robot_service.proto' -) -# @@protoc_insertion_point(imports) - -_sym_db = _symbol_database.Default() - - -from cmvr.api import common_pb2 as cmvr_dot_api_dot_common__pb2 -from cmvr.api import humanoid_robot_command_pb2 as cmvr_dot_api_dot_humanoid__robot__command__pb2 - - -DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n%cmvr/api/humanoid_robot_service.proto\x12\x08\x63mvr.api\x1a\x15\x63mvr/api/common.proto\x1a%cmvr/api/humanoid_robot_command.proto2\x8e\x07\n\x14HumanoidRobotService\x12N\n\ttorqueOff\x12\x1f.cmvr.api.CommandHeader.Request\x1a .cmvr.api.CommandHeader.Feedback\x12M\n\x08torqueOn\x12\x1f.cmvr.api.CommandHeader.Request\x1a .cmvr.api.CommandHeader.Feedback\x12:\n\x05moveJ\x12\x17.cmvr.api.MoveJ.Request\x1a\x18.cmvr.api.MoveJ.Response\x12:\n\x05moveL\x12\x17.cmvr.api.MoveL.Request\x1a\x18.cmvr.api.MoveL.Response\x12=\n\x06speedJ\x12\x18.cmvr.api.SpeedJ.Request\x1a\x19.cmvr.api.SpeedJ.Response\x12=\n\x06speedL\x12\x18.cmvr.api.SpeedL.Request\x1a\x19.cmvr.api.SpeedL.Response\x12@\n\rgetJointState\x12\x16.cmvr.api.JointRequest\x1a\x17.cmvr.api.JointResponse\x12@\n\x07getPose\x12\x19.cmvr.api.GetPose.Request\x1a\x1a.cmvr.api.GetPose.Response\x12U\n\x0e\x63\x61librateZeroQ\x12 .cmvr.api.CalibrateZeroQ.Request\x1a!.cmvr.api.CalibrateZeroQ.Response\x12=\n\x06servoJ\x12\x18.cmvr.api.ServoJ.Request\x1a\x19.cmvr.api.ServoJ.Response\x12R\n\rgetPoseMatrix\x12\x1f.cmvr.api.GetPoseMatrix.Request\x1a .cmvr.api.GetPoseMatrix.Response\x12s\n\x18\x63omputeForwardKinematics\x12*.cmvr.api.ComputeForwardKinematics.Request\x1a+.cmvr.api.ComputeForwardKinematics.Responseb\x06proto3') - -_globals = globals() -_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) -_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.api.humanoid_robot_service_pb2', _globals) -if not _descriptor._USE_C_DESCRIPTORS: - DESCRIPTOR._loaded_options = None - _globals['_HUMANOIDROBOTSERVICE']._serialized_start=114 - _globals['_HUMANOIDROBOTSERVICE']._serialized_end=1024 -# @@protoc_insertion_point(module_scope) diff --git a/generated/__pycache__/__init__.py b/generated/cmvr/common/__init__.py similarity index 100% rename from generated/__pycache__/__init__.py rename to generated/cmvr/common/__init__.py diff --git a/generated/cmvr/common/geometry_pb2.py b/generated/cmvr/common/geometry_pb2.py new file mode 100644 index 0000000..fab6f7d --- /dev/null +++ b/generated/cmvr/common/geometry_pb2.py @@ -0,0 +1,52 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# NO CHECKED-IN PROTOBUF GENCODE +# source: cmvr/common/geometry.proto +# Protobuf Python Version: 6.31.1 +"""Generated protocol buffer code.""" +from google.protobuf import descriptor as _descriptor +from google.protobuf import descriptor_pool as _descriptor_pool +from google.protobuf import runtime_version as _runtime_version +from google.protobuf import symbol_database as _symbol_database +from google.protobuf.internal import builder as _builder +_runtime_version.ValidateProtobufRuntimeVersion( + _runtime_version.Domain.PUBLIC, + 6, + 31, + 1, + '', + 'cmvr/common/geometry.proto' +) +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + + + +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1a\x63mvr/common/geometry.proto\x12\x0b\x63mvr.common\"2\n\x04Vec2\x12\x0e\n\x01x\x18\x01 \x01(\x01H\x00\x88\x01\x01\x12\x0e\n\x01y\x18\x02 \x01(\x01H\x01\x88\x01\x01\x42\x04\n\x02_xB\x04\n\x02_y\"H\n\x04Vec3\x12\x0e\n\x01x\x18\x01 \x01(\x01H\x00\x88\x01\x01\x12\x0e\n\x01y\x18\x02 \x01(\x01H\x01\x88\x01\x01\x12\x0e\n\x01z\x18\x03 \x01(\x01H\x02\x88\x01\x01\x42\x04\n\x02_xB\x04\n\x02_yB\x04\n\x02_z\"\x90\x01\n\x04Vec6\x12\x0e\n\x01x\x18\x01 \x01(\x01H\x00\x88\x01\x01\x12\x0e\n\x01y\x18\x02 \x01(\x01H\x01\x88\x01\x01\x12\x0e\n\x01z\x18\x03 \x01(\x01H\x02\x88\x01\x01\x12\x0f\n\x02rx\x18\x04 \x01(\x01H\x03\x88\x01\x01\x12\x0f\n\x02ry\x18\x05 \x01(\x01H\x04\x88\x01\x01\x12\x0f\n\x02rz\x18\x06 \x01(\x01H\x05\x88\x01\x01\x42\x04\n\x02_xB\x04\n\x02_yB\x04\n\x02_zB\x05\n\x03_rxB\x05\n\x03_ryB\x05\n\x03_rz\"^\n\x04Quat\x12\x0e\n\x01w\x18\x01 \x01(\x01H\x00\x88\x01\x01\x12\x0e\n\x01x\x18\x02 \x01(\x01H\x01\x88\x01\x01\x12\x0e\n\x01y\x18\x03 \x01(\x01H\x02\x88\x01\x01\x12\x0e\n\x01z\x18\x04 \x01(\x01H\x03\x88\x01\x01\x42\x04\n\x02_wB\x04\n\x02_xB\x04\n\x02_yB\x04\n\x02_z\"O\n\x05\x45uler\x12\x0f\n\x02rx\x18\x01 \x01(\x01H\x00\x88\x01\x01\x12\x0f\n\x02ry\x18\x02 \x01(\x01H\x01\x88\x01\x01\x12\x0f\n\x02rz\x18\x03 \x01(\x01H\x02\x88\x01\x01\x42\x05\n\x03_rxB\x05\n\x03_ryB\x05\n\x03_rz\"w\n\x06Pose3d\x12#\n\x08position\x18\x01 \x01(\x0b\x32\x11.cmvr.common.Vec3\x12%\n\nquaternion\x18\x02 \x01(\x0b\x32\x11.cmvr.common.Quat\x12!\n\x05\x65uler\x18\x03 \x01(\x0b\x32\x12.cmvr.common.Euler\"R\n\x06Pose2d\x12\x0e\n\x01x\x18\x01 \x01(\x01H\x00\x88\x01\x01\x12\x0e\n\x01y\x18\x02 \x01(\x01H\x01\x88\x01\x01\x12\x12\n\x05theta\x18\x03 \x01(\x01H\x02\x88\x01\x01\x42\x04\n\x02_xB\x04\n\x02_yB\x08\n\x06_theta\"\xf0\x01\n\x04Mat3\x12\x10\n\x03m00\x18\x01 \x01(\x01H\x00\x88\x01\x01\x12\x10\n\x03m01\x18\x02 \x01(\x01H\x01\x88\x01\x01\x12\x10\n\x03m02\x18\x03 \x01(\x01H\x02\x88\x01\x01\x12\x10\n\x03m10\x18\x04 \x01(\x01H\x03\x88\x01\x01\x12\x10\n\x03m11\x18\x05 \x01(\x01H\x04\x88\x01\x01\x12\x10\n\x03m12\x18\x06 \x01(\x01H\x05\x88\x01\x01\x12\x10\n\x03m20\x18\x07 \x01(\x01H\x06\x88\x01\x01\x12\x10\n\x03m21\x18\x08 \x01(\x01H\x07\x88\x01\x01\x12\x10\n\x03m22\x18\t \x01(\x01H\x08\x88\x01\x01\x42\x06\n\x04_m00B\x06\n\x04_m01B\x06\n\x04_m02B\x06\n\x04_m10B\x06\n\x04_m11B\x06\n\x04_m12B\x06\n\x04_m20B\x06\n\x04_m21B\x06\n\x04_m22\"\xa6\x03\n\x04Mat4\x12\x10\n\x03m00\x18\x01 \x01(\x01H\x00\x88\x01\x01\x12\x10\n\x03m01\x18\x02 \x01(\x01H\x01\x88\x01\x01\x12\x10\n\x03m02\x18\x03 \x01(\x01H\x02\x88\x01\x01\x12\x10\n\x03m03\x18\x04 \x01(\x01H\x03\x88\x01\x01\x12\x10\n\x03m10\x18\x05 \x01(\x01H\x04\x88\x01\x01\x12\x10\n\x03m11\x18\x06 \x01(\x01H\x05\x88\x01\x01\x12\x10\n\x03m12\x18\x07 \x01(\x01H\x06\x88\x01\x01\x12\x10\n\x03m13\x18\x08 \x01(\x01H\x07\x88\x01\x01\x12\x10\n\x03m20\x18\t \x01(\x01H\x08\x88\x01\x01\x12\x10\n\x03m21\x18\n \x01(\x01H\t\x88\x01\x01\x12\x10\n\x03m22\x18\x0b \x01(\x01H\n\x88\x01\x01\x12\x10\n\x03m23\x18\x0c \x01(\x01H\x0b\x88\x01\x01\x12\x10\n\x03m30\x18\r \x01(\x01H\x0c\x88\x01\x01\x12\x10\n\x03m31\x18\x0e \x01(\x01H\r\x88\x01\x01\x12\x10\n\x03m32\x18\x0f \x01(\x01H\x0e\x88\x01\x01\x12\x10\n\x03m33\x18\x10 \x01(\x01H\x0f\x88\x01\x01\x42\x06\n\x04_m00B\x06\n\x04_m01B\x06\n\x04_m02B\x06\n\x04_m03B\x06\n\x04_m10B\x06\n\x04_m11B\x06\n\x04_m12B\x06\n\x04_m13B\x06\n\x04_m20B\x06\n\x04_m21B\x06\n\x04_m22B\x06\n\x04_m23B\x06\n\x04_m30B\x06\n\x04_m31B\x06\n\x04_m32B\x06\n\x04_m33b\x06proto3') + +_globals = globals() +_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) +_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.common.geometry_pb2', _globals) +if not _descriptor._USE_C_DESCRIPTORS: + DESCRIPTOR._loaded_options = None + _globals['_VEC2']._serialized_start=43 + _globals['_VEC2']._serialized_end=93 + _globals['_VEC3']._serialized_start=95 + _globals['_VEC3']._serialized_end=167 + _globals['_VEC6']._serialized_start=170 + _globals['_VEC6']._serialized_end=314 + _globals['_QUAT']._serialized_start=316 + _globals['_QUAT']._serialized_end=410 + _globals['_EULER']._serialized_start=412 + _globals['_EULER']._serialized_end=491 + _globals['_POSE3D']._serialized_start=493 + _globals['_POSE3D']._serialized_end=612 + _globals['_POSE2D']._serialized_start=614 + _globals['_POSE2D']._serialized_end=696 + _globals['_MAT3']._serialized_start=699 + _globals['_MAT3']._serialized_end=939 + _globals['_MAT4']._serialized_start=942 + _globals['_MAT4']._serialized_end=1364 +# @@protoc_insertion_point(module_scope) diff --git a/generated/cmvr/msgs/geometry_pb2_grpc.py b/generated/cmvr/common/geometry_pb2_grpc.py similarity index 90% rename from generated/cmvr/msgs/geometry_pb2_grpc.py rename to generated/cmvr/common/geometry_pb2_grpc.py index 92b4f0b..9362954 100644 --- a/generated/cmvr/msgs/geometry_pb2_grpc.py +++ b/generated/cmvr/common/geometry_pb2_grpc.py @@ -17,7 +17,7 @@ except ImportError: if _version_not_supported: raise RuntimeError( f'The grpc package installed is at version {GRPC_VERSION},' - + ' but the generated code in cmvr/msgs/geometry_pb2_grpc.py depends on' + + ' but the generated code in cmvr/common/geometry_pb2_grpc.py depends on' + f' grpcio>={GRPC_GENERATED_VERSION}.' + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' diff --git a/generated/cmvr/__pycache__/__init__.py b/generated/cmvr/config/agv_config/__init__.py similarity index 100% rename from generated/cmvr/__pycache__/__init__.py rename to generated/cmvr/config/agv_config/__init__.py diff --git a/generated/cmvr/config/agv_config/agv_config_pb2.py b/generated/cmvr/config/agv_config/agv_config_pb2.py new file mode 100644 index 0000000..124474d --- /dev/null +++ b/generated/cmvr/config/agv_config/agv_config_pb2.py @@ -0,0 +1,42 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# NO CHECKED-IN PROTOBUF GENCODE +# source: cmvr/config/agv_config/agv_config.proto +# Protobuf Python Version: 6.31.1 +"""Generated protocol buffer code.""" +from google.protobuf import descriptor as _descriptor +from google.protobuf import descriptor_pool as _descriptor_pool +from google.protobuf import runtime_version as _runtime_version +from google.protobuf import symbol_database as _symbol_database +from google.protobuf.internal import builder as _builder +_runtime_version.ValidateProtobufRuntimeVersion( + _runtime_version.Domain.PUBLIC, + 6, + 31, + 1, + '', + 'cmvr/config/agv_config/agv_config.proto' +) +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + + + +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\'cmvr/config/agv_config/agv_config.proto\x12\x0b\x63mvr.config\"3\n\x0bMyAgvConfig\x12\n\n\x02id\x18\x01 \x01(\t\x12\n\n\x02ip\x18\x02 \x01(\t\x12\x0c\n\x04port\x18\x03 \x01(\x05\"T\n\x0f\x41GVDeviceConfig\x12\n\n\x02id\x18\x01 \x01(\t\x12*\n\x06my_agv\x18\n \x01(\x0b\x32\x18.cmvr.config.MyAgvConfigH\x00\x42\t\n\x07\x62\x61\x63kend\"7\n\tAGVConfig\x12*\n\x04\x61gvs\x18\x01 \x03(\x0b\x32\x1c.cmvr.config.AGVDeviceConfig\"4\n\rAGVRootConfig\x12#\n\x03\x61gv\x18\x01 \x01(\x0b\x32\x16.cmvr.config.AGVConfigb\x06proto3') + +_globals = globals() +_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) +_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.config.agv_config.agv_config_pb2', _globals) +if not _descriptor._USE_C_DESCRIPTORS: + DESCRIPTOR._loaded_options = None + _globals['_MYAGVCONFIG']._serialized_start=56 + _globals['_MYAGVCONFIG']._serialized_end=107 + _globals['_AGVDEVICECONFIG']._serialized_start=109 + _globals['_AGVDEVICECONFIG']._serialized_end=193 + _globals['_AGVCONFIG']._serialized_start=195 + _globals['_AGVCONFIG']._serialized_end=250 + _globals['_AGVROOTCONFIG']._serialized_start=252 + _globals['_AGVROOTCONFIG']._serialized_end=304 +# @@protoc_insertion_point(module_scope) diff --git a/generated/cmvr/config/agv_config/agv_config_pb2_grpc.py b/generated/cmvr/config/agv_config/agv_config_pb2_grpc.py new file mode 100644 index 0000000..d594250 --- /dev/null +++ b/generated/cmvr/config/agv_config/agv_config_pb2_grpc.py @@ -0,0 +1,24 @@ +# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! +"""Client and server classes corresponding to protobuf-defined services.""" +import grpc +import warnings + + +GRPC_GENERATED_VERSION = '1.76.0' +GRPC_VERSION = grpc.__version__ +_version_not_supported = False + +try: + from grpc._utilities import first_version_is_lower + _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION) +except ImportError: + _version_not_supported = True + +if _version_not_supported: + raise RuntimeError( + f'The grpc package installed is at version {GRPC_VERSION},' + + ' but the generated code in cmvr/config/agv_config/agv_config_pb2_grpc.py depends on' + + f' grpcio>={GRPC_GENERATED_VERSION}.' + + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' + + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' + ) diff --git a/generated/cmvr/api/__pycache__/__init__.py b/generated/cmvr/config/arm_config/__init__.py similarity index 100% rename from generated/cmvr/api/__pycache__/__init__.py rename to generated/cmvr/config/arm_config/__init__.py diff --git a/generated/cmvr/config/arm_config/arm_config_pb2.py b/generated/cmvr/config/arm_config/arm_config_pb2.py new file mode 100644 index 0000000..8053dab --- /dev/null +++ b/generated/cmvr/config/arm_config/arm_config_pb2.py @@ -0,0 +1,81 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# NO CHECKED-IN PROTOBUF GENCODE +# source: cmvr/config/arm_config/arm_config.proto +# Protobuf Python Version: 6.31.1 +"""Generated protocol buffer code.""" +from google.protobuf import descriptor as _descriptor +from google.protobuf import descriptor_pool as _descriptor_pool +from google.protobuf import runtime_version as _runtime_version +from google.protobuf import symbol_database as _symbol_database +from google.protobuf.internal import builder as _builder +_runtime_version.ValidateProtobufRuntimeVersion( + _runtime_version.Domain.PUBLIC, + 6, + 31, + 1, + '', + 'cmvr/config/arm_config/arm_config.proto' +) +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + +from cmvr.common import geometry_pb2 as cmvr_dot_common_dot_geometry__pb2 +from cmvr.config import lawba_ik_config_pb2 as cmvr_dot_config_dot_lawba__ik__config__pb2 +from cmvr.config import pinocchio_dls_ik_config_pb2 as cmvr_dot_config_dot_pinocchio__dls__ik__config__pb2 +from cmvr.config import pinocchio_qp_ik_config_pb2 as cmvr_dot_config_dot_pinocchio__qp__ik__config__pb2 +from cmvr.config import srs_ik_config_pb2 as cmvr_dot_config_dot_srs__ik__config__pb2 + + +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\'cmvr/config/arm_config/arm_config.proto\x12\x0b\x63mvr.config\x1a\x1a\x63mvr/common/geometry.proto\x1a!cmvr/config/lawba_ik_config.proto\x1a)cmvr/config/pinocchio_dls_ik_config.proto\x1a(cmvr/config/pinocchio_qp_ik_config.proto\x1a\x1f\x63mvr/config/srs_ik_config.proto\"\xc1\x01\n\x1aMotorRobotArmBackendConfig\x12\x17\n\x0fmotor_system_id\x18\x02 \x01(\t\x12\x0b\n\x03\x64of\x18\x03 \x01(\x05\x12\x13\n\x0bjoint_names\x18\x04 \x03(\t\x12\x10\n\x08upd_freq\x18\x05 \x01(\x05\x12\x13\n\x0b\x62uffer_size\x18\x06 \x01(\x05\x12\x13\n\x0b\x64\x65\x66\x61ult_vel\x18\x07 \x01(\x01\x12\x13\n\x0b\x64\x65\x66\x61ult_acc\x18\x08 \x01(\x01\x12\x17\n\x0fmotor_group_ids\x18\t \x03(\t\"\x9f\x01\n\x1bVendorRobotArmBackendConfig\x12\r\n\x05\x62rand\x18\x01 \x01(\t\x12\n\n\x02ip\x18\x02 \x01(\t\x12\x0c\n\x04port\x18\x03 \x01(\x05\x12\r\n\x05model\x18\x04 \x01(\t\x12\x0b\n\x03\x64of\x18\x05 \x01(\x05\x12\x13\n\x0bjoint_names\x18\x06 \x03(\t\x12\x12\n\nbase_frame\x18\x07 \x01(\t\x12\x12\n\ntool_frame\x18\x08 \x01(\t\"V\n\x10JointLimitConfig\x12\x12\n\njoint_name\x18\x01 \x01(\t\x12\r\n\x05lower\x18\x02 \x01(\x01\x12\r\n\x05upper\x18\x03 \x01(\x01\x12\x10\n\x08velocity\x18\x04 \x01(\x01\"q\n\x11JointLimitsConfig\x12-\n\x06source\x18\x01 \x01(\x0e\x32\x1d.cmvr.config.JointLimitSource\x12-\n\x06joints\x18\x02 \x03(\x0b\x32\x1d.cmvr.config.JointLimitConfig\"s\n\x1bQpJointLimitAvoidanceConfig\x12\x0e\n\x06\x65nable\x18\x01 \x01(\x08\x12\x14\n\x0cmargin_ratio\x18\x02 \x01(\x01\x12\x0c\n\x04gain\x18\x03 \x01(\x01\x12\x10\n\x08max_push\x18\x04 \x01(\x01\x12\x0e\n\x06weight\x18\x05 \x01(\x01\"\x9f\x02\n\x19\x43\x61rtesianVelocityQpConfig\x12\x34\n\x0cjoint_limits\x18\x01 \x01(\x0b\x32\x1e.cmvr.config.JointLimitsConfig\x12\x30\n\x15twist_tracking_weight\x18\x02 \x01(\x0b\x32\x11.cmvr.common.Vec6\x12\x1b\n\x13qdot_regularization\x18\x03 \x01(\x01\x12 \n\x18prev_qdot_regularization\x18\x04 \x01(\x01\x12\x12\n\nsolver_eps\x18\x05 \x01(\x01\x12G\n\x15joint_limit_avoidance\x18\x06 \x01(\x0b\x32(.cmvr.config.QpJointLimitAvoidanceConfig\"\xd6\x04\n\x13SpeedLPlannerConfig\x12\x1b\n\x13linear_velocity_max\x18\x01 \x01(\x01\x12\x1f\n\x17linear_acceleration_max\x18\x02 \x01(\x01\x12\x17\n\x0flinear_jerk_max\x18\x03 \x01(\x01\x12\x1c\n\x14\x61ngular_velocity_max\x18\x04 \x01(\x01\x12 \n\x18\x61ngular_acceleration_max\x18\x05 \x01(\x01\x12\x18\n\x10\x61ngular_jerk_max\x18\x06 \x01(\x01\x12\x1e\n\x16joint_acceleration_max\x18\x07 \x03(\x01\x12&\n\x1elinear_target_replan_threshold\x18\x08 \x01(\x01\x12\'\n\x1f\x61ngular_target_replan_threshold\x18\t \x01(\x01\x12$\n\x1clinear_reverse_cos_threshold\x18\n \x01(\x01\x12-\n%linear_reverse_switch_speed_threshold\x18\x0b \x01(\x01\x12&\n\x1enormal_direction_deviation_deg\x18\x0c \x01(\x01\x12$\n\x1cmild_direction_deviation_deg\x18\r \x01(\x01\x12&\n\x1esevere_direction_deviation_deg\x18\x0e \x01(\x01\x12\x1e\n\x16linear_min_speed_ratio\x18\x0f \x01(\x01\x12\x32\n\x02qp\x18\x10 \x01(\x0b\x32&.cmvr.config.CartesianVelocityQpConfig\"\x9f\x01\n!CartesianVelocityControllerConfig\x12\x18\n\x10\x63ontrol_period_s\x18\x01 \x01(\x01\x12\x17\n\x0fstop_twist_norm\x18\x02 \x01(\x01\x12\"\n\x1astop_command_velocity_norm\x18\x03 \x01(\x01\x12#\n\x1bstop_measured_velocity_norm\x18\x04 \x01(\x01\"\x94\x01\n\x1eToppraJointMotionPlannerConfig\x12.\n\tpath_type\x18\x01 \x01(\x0e\x32\x1b.cmvr.config.ToppraPathType\x12\x17\n\x0fsample_period_s\x18\x02 \x01(\x01\x12\x11\n\tgrid_size\x18\x03 \x01(\x05\x12\x16\n\x0ehigh_grid_size\x18\x04 \x01(\x05\"n\n\x0bMoveJConfig\x12R\n\x1btoppra_joint_motion_planner\x18\x01 \x01(\x0b\x32+.cmvr.config.ToppraJointMotionPlannerConfigH\x00\x42\x0b\n\talgorithm\"\x8f\x01\n\x12MoveLPlannerConfig\x12\x17\n\x0fsample_period_s\x18\x01 \x01(\x01\x12\x15\n\rposition_gain\x18\x02 \x01(\x01\x12\x15\n\rrotation_gain\x18\x03 \x01(\x01\x12\x32\n\x02qp\x18\x04 \x01(\x0b\x32&.cmvr.config.CartesianVelocityQpConfig\"\xbf\x01\n\x0bMoveLConfig\x12Q\n&pinocchio_dls_cartesian_motion_planner\x18\x01 \x01(\x0b\x32\x1f.cmvr.config.MoveLPlannerConfigH\x00\x12P\n%pinocchio_qp_cartesian_motion_planner\x18\x02 \x01(\x0b\x32\x1f.cmvr.config.MoveLPlannerConfigH\x00\x42\x0b\n\talgorithm\"~\n\x16SpeedLControllerConfig\x12W\n\x1d\x63\x61rtesian_velocity_controller\x18\x01 \x01(\x0b\x32..cmvr.config.CartesianVelocityControllerConfigH\x00\x42\x0b\n\talgorithm\"\x83\x02\n\x0cSpeedLConfig\x12R\n&pinocchio_dls_cartesian_motion_planner\x18\x01 \x01(\x0b\x32 .cmvr.config.SpeedLPlannerConfigH\x00\x12Q\n%pinocchio_qp_cartesian_motion_planner\x18\x02 \x01(\x0b\x32 .cmvr.config.SpeedLPlannerConfigH\x00\x12?\n\x12speed_l_controller\x18\n \x01(\x0b\x32#.cmvr.config.SpeedLControllerConfigB\x0b\n\talgorithm\"\x96\x02\n\x13\x41rmKinematicsConfig\x12\x44\n\x17pinocchio_dls_ik_solver\x18\n \x01(\x0b\x32!.cmvr.config.PinocchioDlsIKConfigH\x00\x12\x42\n\x16pinocchio_qp_ik_solver\x18\x0b \x01(\x0b\x32 .cmvr.config.PinocchioQpIKConfigH\x00\x12\x31\n\rsrs_ik_solver\x18\x0c \x01(\x0b\x32\x18.cmvr.config.SrsIKConfigH\x00\x12\x35\n\x0flawba_ik_solver\x18\r \x01(\x0b\x32\x1a.cmvr.config.LawbaIKConfigH\x00\x42\x0b\n\talgorithm\"\x97\x01\n\x0f\x41rmMotionConfig\x12(\n\x06move_j\x18\x01 \x01(\x0b\x32\x18.cmvr.config.MoveJConfig\x12(\n\x06move_l\x18\x02 \x01(\x0b\x32\x18.cmvr.config.MoveLConfig\x12*\n\x07speed_l\x18\x04 \x01(\x0b\x32\x19.cmvr.config.SpeedLConfigJ\x04\x08\x03\x10\x04\"\x87\x02\n\x0eRobotArmConfig\x12\n\n\x02id\x18\x01 \x01(\t\x12\x38\n\x05motor\x18\n \x01(\x0b\x32\'.cmvr.config.MotorRobotArmBackendConfigH\x00\x12:\n\x06vendor\x18\x0b \x01(\x0b\x32(.cmvr.config.VendorRobotArmBackendConfigH\x00\x12\x34\n\nkinematics\x18\x14 \x01(\x0b\x32 .cmvr.config.ArmKinematicsConfig\x12,\n\x06motion\x18\x15 \x01(\x0b\x32\x1c.cmvr.config.ArmMotionConfigB\t\n\x07\x62\x61\x63kendJ\x04\x08\x02\x10\x03\"<\n\tArmConfig\x12/\n\nrobot_arms\x18\x01 \x03(\x0b\x32\x1b.cmvr.config.RobotArmConfig\"4\n\rArmRootConfig\x12#\n\x03\x61rm\x18\x01 \x01(\x0b\x32\x16.cmvr.config.ArmConfig*\xab\x01\n\x0eToppraPathType\x12\x1c\n\x18TOPPRA_PATH_TYPE_UNKNOWN\x10\x00\x12\x1b\n\x17TOPPRA_PATH_TYPE_LINEAR\x10\x01\x12\"\n\x1eTOPPRA_PATH_TYPE_CUBIC_HERMITE\x10\x02\x12\x1c\n\x18TOPPRA_PATH_TYPE_QUINTIC\x10\x03\x12\x1c\n\x18TOPPRA_PATH_TYPE_NATURAL\x10\x04*n\n\x10JointLimitSource\x12\x1e\n\x1aJOINT_LIMIT_SOURCE_UNKNOWN\x10\x00\x12\x1b\n\x17JOINT_LIMIT_SOURCE_URDF\x10\x01\x12\x1d\n\x19JOINT_LIMIT_SOURCE_CUSTOM\x10\x02\x62\x06proto3') + +_globals = globals() +_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) +_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.config.arm_config.arm_config_pb2', _globals) +if not _descriptor._USE_C_DESCRIPTORS: + DESCRIPTOR._loaded_options = None + _globals['_TOPPRAPATHTYPE']._serialized_start=3779 + _globals['_TOPPRAPATHTYPE']._serialized_end=3950 + _globals['_JOINTLIMITSOURCE']._serialized_start=3952 + _globals['_JOINTLIMITSOURCE']._serialized_end=4062 + _globals['_MOTORROBOTARMBACKENDCONFIG']._serialized_start=238 + _globals['_MOTORROBOTARMBACKENDCONFIG']._serialized_end=431 + _globals['_VENDORROBOTARMBACKENDCONFIG']._serialized_start=434 + _globals['_VENDORROBOTARMBACKENDCONFIG']._serialized_end=593 + _globals['_JOINTLIMITCONFIG']._serialized_start=595 + _globals['_JOINTLIMITCONFIG']._serialized_end=681 + _globals['_JOINTLIMITSCONFIG']._serialized_start=683 + _globals['_JOINTLIMITSCONFIG']._serialized_end=796 + _globals['_QPJOINTLIMITAVOIDANCECONFIG']._serialized_start=798 + _globals['_QPJOINTLIMITAVOIDANCECONFIG']._serialized_end=913 + _globals['_CARTESIANVELOCITYQPCONFIG']._serialized_start=916 + _globals['_CARTESIANVELOCITYQPCONFIG']._serialized_end=1203 + _globals['_SPEEDLPLANNERCONFIG']._serialized_start=1206 + _globals['_SPEEDLPLANNERCONFIG']._serialized_end=1804 + _globals['_CARTESIANVELOCITYCONTROLLERCONFIG']._serialized_start=1807 + _globals['_CARTESIANVELOCITYCONTROLLERCONFIG']._serialized_end=1966 + _globals['_TOPPRAJOINTMOTIONPLANNERCONFIG']._serialized_start=1969 + _globals['_TOPPRAJOINTMOTIONPLANNERCONFIG']._serialized_end=2117 + _globals['_MOVEJCONFIG']._serialized_start=2119 + _globals['_MOVEJCONFIG']._serialized_end=2229 + _globals['_MOVELPLANNERCONFIG']._serialized_start=2232 + _globals['_MOVELPLANNERCONFIG']._serialized_end=2375 + _globals['_MOVELCONFIG']._serialized_start=2378 + _globals['_MOVELCONFIG']._serialized_end=2569 + _globals['_SPEEDLCONTROLLERCONFIG']._serialized_start=2571 + _globals['_SPEEDLCONTROLLERCONFIG']._serialized_end=2697 + _globals['_SPEEDLCONFIG']._serialized_start=2700 + _globals['_SPEEDLCONFIG']._serialized_end=2959 + _globals['_ARMKINEMATICSCONFIG']._serialized_start=2962 + _globals['_ARMKINEMATICSCONFIG']._serialized_end=3240 + _globals['_ARMMOTIONCONFIG']._serialized_start=3243 + _globals['_ARMMOTIONCONFIG']._serialized_end=3394 + _globals['_ROBOTARMCONFIG']._serialized_start=3397 + _globals['_ROBOTARMCONFIG']._serialized_end=3660 + _globals['_ARMCONFIG']._serialized_start=3662 + _globals['_ARMCONFIG']._serialized_end=3722 + _globals['_ARMROOTCONFIG']._serialized_start=3724 + _globals['_ARMROOTCONFIG']._serialized_end=3776 +# @@protoc_insertion_point(module_scope) diff --git a/generated/cmvr/config/arm_config/arm_config_pb2_grpc.py b/generated/cmvr/config/arm_config/arm_config_pb2_grpc.py new file mode 100644 index 0000000..a30828f --- /dev/null +++ b/generated/cmvr/config/arm_config/arm_config_pb2_grpc.py @@ -0,0 +1,24 @@ +# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! +"""Client and server classes corresponding to protobuf-defined services.""" +import grpc +import warnings + + +GRPC_GENERATED_VERSION = '1.76.0' +GRPC_VERSION = grpc.__version__ +_version_not_supported = False + +try: + from grpc._utilities import first_version_is_lower + _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION) +except ImportError: + _version_not_supported = True + +if _version_not_supported: + raise RuntimeError( + f'The grpc package installed is at version {GRPC_VERSION},' + + ' but the generated code in cmvr/config/arm_config/arm_config_pb2_grpc.py depends on' + + f' grpcio>={GRPC_GENERATED_VERSION}.' + + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' + + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' + ) diff --git a/generated/cmvr/config/touch_screen_app_config/__init__.py b/generated/cmvr/config/aubo_robot_config/__init__.py similarity index 100% rename from generated/cmvr/config/touch_screen_app_config/__init__.py rename to generated/cmvr/config/aubo_robot_config/__init__.py diff --git a/generated/cmvr/config/speaker_config/speaker_conifg_pb2.py b/generated/cmvr/config/aubo_robot_config/aubo_robot_config_pb2.py similarity index 56% rename from generated/cmvr/config/speaker_config/speaker_conifg_pb2.py rename to generated/cmvr/config/aubo_robot_config/aubo_robot_config_pb2.py index 6eae730..e3b5107 100644 --- a/generated/cmvr/config/speaker_config/speaker_conifg_pb2.py +++ b/generated/cmvr/config/aubo_robot_config/aubo_robot_config_pb2.py @@ -1,7 +1,7 @@ # -*- coding: utf-8 -*- # Generated by the protocol buffer compiler. DO NOT EDIT! # NO CHECKED-IN PROTOBUF GENCODE -# source: cmvr/config/speaker_config/speaker_conifg.proto +# source: cmvr/config/aubo_robot_config/aubo_robot_config.proto # Protobuf Python Version: 6.31.1 """Generated protocol buffer code.""" from google.protobuf import descriptor as _descriptor @@ -15,7 +15,7 @@ _runtime_version.ValidateProtobufRuntimeVersion( 31, 1, '', - 'cmvr/config/speaker_config/speaker_conifg.proto' + 'cmvr/config/aubo_robot_config/aubo_robot_config.proto' ) # @@protoc_insertion_point(imports) @@ -24,15 +24,13 @@ _sym_db = _symbol_database.Default() -DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n/cmvr/config/speaker_config/speaker_conifg.proto\x12\x0b\x63mvr.config\"1\n\x13\x46\x46MpegSpeakerConfig\x12\n\n\x02id\x18\x01 \x01(\t\x12\x0e\n\x06\x65nable\x18\x02 \x01(\x08\"J\n\rSpeakerConfig\x12\x39\n\x0f\x66\x66mpeg_speakers\x18\x01 \x03(\x0b\x32 .cmvr.config.FFMpegSpeakerConfigb\x06proto3') +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n5cmvr/config/aubo_robot_config/aubo_robot_config.proto\x12\x0b\x63mvr.config\"[\n\x0f\x41uboRobotConfig\x12\n\n\x02id\x18\x01 \x01(\t\x12\n\n\x02ip\x18\x02 \x01(\t\x12\x0c\n\x04port\x18\x03 \x01(\x05\x12\x10\n\x08username\x18\x04 \x01(\t\x12\x10\n\x08password\x18\x05 \x01(\tb\x06proto3') _globals = globals() _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) -_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.config.speaker_config.speaker_conifg_pb2', _globals) +_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.config.aubo_robot_config.aubo_robot_config_pb2', _globals) if not _descriptor._USE_C_DESCRIPTORS: DESCRIPTOR._loaded_options = None - _globals['_FFMPEGSPEAKERCONFIG']._serialized_start=64 - _globals['_FFMPEGSPEAKERCONFIG']._serialized_end=113 - _globals['_SPEAKERCONFIG']._serialized_start=115 - _globals['_SPEAKERCONFIG']._serialized_end=189 + _globals['_AUBOROBOTCONFIG']._serialized_start=70 + _globals['_AUBOROBOTCONFIG']._serialized_end=161 # @@protoc_insertion_point(module_scope) diff --git a/generated/cmvr/config/aubo_robot_config/aubo_robot_config_pb2_grpc.py b/generated/cmvr/config/aubo_robot_config/aubo_robot_config_pb2_grpc.py new file mode 100644 index 0000000..4227d2f --- /dev/null +++ b/generated/cmvr/config/aubo_robot_config/aubo_robot_config_pb2_grpc.py @@ -0,0 +1,24 @@ +# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! +"""Client and server classes corresponding to protobuf-defined services.""" +import grpc +import warnings + + +GRPC_GENERATED_VERSION = '1.76.0' +GRPC_VERSION = grpc.__version__ +_version_not_supported = False + +try: + from grpc._utilities import first_version_is_lower + _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION) +except ImportError: + _version_not_supported = True + +if _version_not_supported: + raise RuntimeError( + f'The grpc package installed is at version {GRPC_VERSION},' + + ' but the generated code in cmvr/config/aubo_robot_config/aubo_robot_config_pb2_grpc.py depends on' + + f' grpcio>={GRPC_GENERATED_VERSION}.' + + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' + + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' + ) diff --git a/generated/cmvr/config/biohead_config/__init__.py b/generated/cmvr/config/biohead_config/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/generated/cmvr/config/biohead_config/biohead_config_pb2.py b/generated/cmvr/config/biohead_config/biohead_config_pb2.py new file mode 100644 index 0000000..67834e5 --- /dev/null +++ b/generated/cmvr/config/biohead_config/biohead_config_pb2.py @@ -0,0 +1,40 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# NO CHECKED-IN PROTOBUF GENCODE +# source: cmvr/config/biohead_config/biohead_config.proto +# Protobuf Python Version: 6.31.1 +"""Generated protocol buffer code.""" +from google.protobuf import descriptor as _descriptor +from google.protobuf import descriptor_pool as _descriptor_pool +from google.protobuf import runtime_version as _runtime_version +from google.protobuf import symbol_database as _symbol_database +from google.protobuf.internal import builder as _builder +_runtime_version.ValidateProtobufRuntimeVersion( + _runtime_version.Domain.PUBLIC, + 6, + 31, + 1, + '', + 'cmvr/config/biohead_config/biohead_config.proto' +) +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + + + +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n/cmvr/config/biohead_config/biohead_config.proto\x12\x0b\x63mvr.config\"\x9c\x01\n\x17\x42ioHeadServoGroupConfig\x12\x0c\n\x04name\x18\x01 \x01(\t\x12\x0f\n\x07\x61\x64\x64ress\x18\x02 \x01(\x05\x12\x15\n\rchannel_start\x18\x03 \x01(\x05\x12\x13\n\x0b\x63hannel_end\x18\x04 \x01(\x05\x12\x0e\n\x06offset\x18\x05 \x03(\x01\x12\x12\n\nmin_angles\x18\x06 \x03(\x01\x12\x12\n\nmax_angles\x18\x07 \x03(\x01\"\x84\x01\n\x12\x42ioHeadRobotConfig\x12\n\n\x02id\x18\x01 \x01(\t\x12\x13\n\x0bserial_port\x18\x02 \x01(\t\x12\x11\n\tbaud_rate\x18\x03 \x01(\x05\x12:\n\x0cservo_groups\x18\x04 \x03(\x0b\x32$.cmvr.config.BioHeadServoGroupConfig\"K\n\x16\x42ioHeadRobotRootConfig\x12\x31\n\x08\x62io_head\x18\x01 \x01(\x0b\x32\x1f.cmvr.config.BioHeadRobotConfigb\x06proto3') + +_globals = globals() +_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) +_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.config.biohead_config.biohead_config_pb2', _globals) +if not _descriptor._USE_C_DESCRIPTORS: + DESCRIPTOR._loaded_options = None + _globals['_BIOHEADSERVOGROUPCONFIG']._serialized_start=65 + _globals['_BIOHEADSERVOGROUPCONFIG']._serialized_end=221 + _globals['_BIOHEADROBOTCONFIG']._serialized_start=224 + _globals['_BIOHEADROBOTCONFIG']._serialized_end=356 + _globals['_BIOHEADROBOTROOTCONFIG']._serialized_start=358 + _globals['_BIOHEADROBOTROOTCONFIG']._serialized_end=433 +# @@protoc_insertion_point(module_scope) diff --git a/generated/cmvr/config/biohead_config/biohead_config_pb2_grpc.py b/generated/cmvr/config/biohead_config/biohead_config_pb2_grpc.py new file mode 100644 index 0000000..169ce91 --- /dev/null +++ b/generated/cmvr/config/biohead_config/biohead_config_pb2_grpc.py @@ -0,0 +1,24 @@ +# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! +"""Client and server classes corresponding to protobuf-defined services.""" +import grpc +import warnings + + +GRPC_GENERATED_VERSION = '1.76.0' +GRPC_VERSION = grpc.__version__ +_version_not_supported = False + +try: + from grpc._utilities import first_version_is_lower + _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION) +except ImportError: + _version_not_supported = True + +if _version_not_supported: + raise RuntimeError( + f'The grpc package installed is at version {GRPC_VERSION},' + + ' but the generated code in cmvr/config/biohead_config/biohead_config_pb2_grpc.py depends on' + + f' grpcio>={GRPC_GENERATED_VERSION}.' + + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' + + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' + ) diff --git a/generated/cmvr/config/camera_config/camera_config_pb2.py b/generated/cmvr/config/camera_config/camera_config_pb2.py index d43d179..5adf9c7 100644 --- a/generated/cmvr/config/camera_config/camera_config_pb2.py +++ b/generated/cmvr/config/camera_config/camera_config_pb2.py @@ -24,23 +24,29 @@ _sym_db = _symbol_database.Default() -DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n-cmvr/config/camera_config/camera_config.proto\x12\x0b\x63mvr.config\"\xdc\x02\n\x15RealSenseCameraConfig\x12\n\n\x02id\x18\x01 \x01(\t\x12\x14\n\x0cserialNumber\x18\x02 \x01(\t\x12\r\n\x05width\x18\x03 \x01(\x05\x12\x0e\n\x06height\x18\x04 \x01(\x05\x12\x0b\n\x03\x66ps\x18\x05 \x01(\x05\x12\r\n\x05\x63odec\x18\x06 \x01(\t\x12,\n\x0b\x63\x61mera_mode\x18\x07 \x01(\x0e\x32\x17.cmvr.config.CameraMode\x12,\n\x0bstream_mode\x18\x08 \x01(\x0e\x32\x17.cmvr.config.StreamMode\x12*\n\nalign_mode\x18\t \x01(\x0e\x32\x16.cmvr.config.AlignMode\x12\x13\n\x0b\x62uffer_size\x18\n \x01(\x05\x12\x0c\n\x04sync\x18\x0b \x01(\x08\x12\x0e\n\x06\x65nable\x18\x0c \x01(\x08\x12\x14\n\x0c\x65ncode_width\x18\r \x01(\x05\x12\x15\n\rencode_height\x18\x0e \x01(\x05\"\x93\x02\n\x0fUVCCameraConfig\x12\n\n\x02id\x18\x01 \x01(\t\x12\x0b\n\x03usb\x18\x02 \x01(\t\x12\r\n\x05width\x18\x03 \x01(\x05\x12\x0e\n\x06height\x18\x04 \x01(\x05\x12\x0b\n\x03\x66ps\x18\x05 \x01(\x05\x12\r\n\x05\x63odec\x18\x06 \x01(\t\x12,\n\x0b\x63\x61mera_mode\x18\x07 \x01(\x0e\x32\x17.cmvr.config.CameraMode\x12,\n\x0bstream_mode\x18\x08 \x01(\x0e\x32\x17.cmvr.config.StreamMode\x12\x13\n\x0b\x62uffer_size\x18\t \x01(\x05\x12\x0e\n\x06\x65nable\x18\n \x01(\x08\x12\x14\n\x0c\x65ncode_width\x18\x0b \x01(\x05\x12\x15\n\rencode_height\x18\x0c \x01(\x05\"\x80\x01\n\x0c\x43\x61meraConfig\x12\x31\n\x0buvc_cameras\x18\x01 \x03(\x0b\x32\x1c.cmvr.config.UVCCameraConfig\x12=\n\x11realsense_cameras\x18\x02 \x03(\x0b\x32\".cmvr.config.RealSenseCameraConfig*:\n\nCameraMode\x12\x15\n\x11\x43\x41MERA_MODE_PHOTO\x10\x00\x12\x15\n\x11\x43\x41MERA_MODE_VIDEO\x10\x01*N\n\nStreamMode\x12\x13\n\x0fSTREAM_MODE_RGB\x10\x00\x12\x14\n\x10STREAM_MODE_RGBD\x10\x01\x12\x15\n\x11STREAM_MODE_DEPTH\x10\x02*7\n\tAlignMode\x12\x14\n\x10\x41LIGN_MODE_COLOR\x10\x00\x12\x14\n\x10\x41LIGN_MODE_DEPTH\x10\x01\x62\x06proto3') +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n-cmvr/config/camera_config/camera_config.proto\x12\x0b\x63mvr.config\"\xd2\x02\n\x15RealSenseCameraConfig\x12\n\n\x02id\x18\x01 \x01(\t\x12\x14\n\x0cserialNumber\x18\x02 \x01(\t\x12\r\n\x05width\x18\x03 \x01(\x05\x12\x0e\n\x06height\x18\x04 \x01(\x05\x12\x0b\n\x03\x66ps\x18\x05 \x01(\x05\x12\r\n\x05\x63odec\x18\x06 \x01(\t\x12,\n\x0b\x63\x61mera_mode\x18\x07 \x01(\x0e\x32\x17.cmvr.config.CameraMode\x12,\n\x0bstream_mode\x18\x08 \x01(\x0e\x32\x17.cmvr.config.StreamMode\x12*\n\nalign_mode\x18\t \x01(\x0e\x32\x16.cmvr.config.AlignMode\x12\x13\n\x0b\x62uffer_size\x18\n \x01(\x05\x12\x0c\n\x04sync\x18\x0b \x01(\x08\x12\x14\n\x0c\x65ncode_width\x18\r \x01(\x05\x12\x15\n\rencode_height\x18\x0e \x01(\x05J\x04\x08\x0c\x10\r\"\x89\x02\n\x0fUVCCameraConfig\x12\n\n\x02id\x18\x01 \x01(\t\x12\x0b\n\x03usb\x18\x02 \x01(\t\x12\r\n\x05width\x18\x03 \x01(\x05\x12\x0e\n\x06height\x18\x04 \x01(\x05\x12\x0b\n\x03\x66ps\x18\x05 \x01(\x05\x12\r\n\x05\x63odec\x18\x06 \x01(\t\x12,\n\x0b\x63\x61mera_mode\x18\x07 \x01(\x0e\x32\x17.cmvr.config.CameraMode\x12,\n\x0bstream_mode\x18\x08 \x01(\x0e\x32\x17.cmvr.config.StreamMode\x12\x13\n\x0b\x62uffer_size\x18\t \x01(\x05\x12\x14\n\x0c\x65ncode_width\x18\x0b \x01(\x05\x12\x15\n\rencode_height\x18\x0c \x01(\x05J\x04\x08\n\x10\x0b\"h\n\x14MechMindCameraConfig\x12\n\n\x02id\x18\x01 \x01(\t\x12\n\n\x02ip\x18\x02 \x01(\t\x12\x12\n\x05\x61lign\x18\x03 \x01(\x08H\x00\x88\x01\x01\x12\x14\n\x0cimage2d_type\x18\x04 \x01(\tB\x08\n\x06_alignJ\x04\x08\x05\x10\x06\"\xce\x01\n\x12\x43\x61meraDeviceConfig\x12\n\n\x02id\x18\x01 \x01(\t\x12+\n\x03uvc\x18\n \x01(\x0b\x32\x1c.cmvr.config.UVCCameraConfigH\x00\x12\x37\n\trealsense\x18\x0b \x01(\x0b\x32\".cmvr.config.RealSenseCameraConfigH\x00\x12\x35\n\x08mechmind\x18\x0c \x01(\x0b\x32!.cmvr.config.MechMindCameraConfigH\x00\x42\t\n\x07\x62\x61\x63kendJ\x04\x08\x02\x10\x03\"@\n\x0c\x43\x61meraConfig\x12\x30\n\x07\x63\x61meras\x18\x01 \x03(\x0b\x32\x1f.cmvr.config.CameraDeviceConfig\"=\n\x10\x43\x61meraRootConfig\x12)\n\x06\x63\x61mera\x18\x01 \x01(\x0b\x32\x19.cmvr.config.CameraConfig*:\n\nCameraMode\x12\x15\n\x11\x43\x41MERA_MODE_PHOTO\x10\x00\x12\x15\n\x11\x43\x41MERA_MODE_VIDEO\x10\x01*N\n\nStreamMode\x12\x13\n\x0fSTREAM_MODE_RGB\x10\x00\x12\x14\n\x10STREAM_MODE_RGBD\x10\x01\x12\x15\n\x11STREAM_MODE_DEPTH\x10\x02*7\n\tAlignMode\x12\x14\n\x10\x41LIGN_MODE_COLOR\x10\x00\x12\x14\n\x10\x41LIGN_MODE_DEPTH\x10\x01\x62\x06proto3') _globals = globals() _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.config.camera_config.camera_config_pb2', _globals) if not _descriptor._USE_C_DESCRIPTORS: DESCRIPTOR._loaded_options = None - _globals['_CAMERAMODE']._serialized_start=822 - _globals['_CAMERAMODE']._serialized_end=880 - _globals['_STREAMMODE']._serialized_start=882 - _globals['_STREAMMODE']._serialized_end=960 - _globals['_ALIGNMODE']._serialized_start=962 - _globals['_ALIGNMODE']._serialized_end=1017 + _globals['_CAMERAMODE']._serialized_start=1115 + _globals['_CAMERAMODE']._serialized_end=1173 + _globals['_STREAMMODE']._serialized_start=1175 + _globals['_STREAMMODE']._serialized_end=1253 + _globals['_ALIGNMODE']._serialized_start=1255 + _globals['_ALIGNMODE']._serialized_end=1310 _globals['_REALSENSECAMERACONFIG']._serialized_start=63 - _globals['_REALSENSECAMERACONFIG']._serialized_end=411 - _globals['_UVCCAMERACONFIG']._serialized_start=414 - _globals['_UVCCAMERACONFIG']._serialized_end=689 - _globals['_CAMERACONFIG']._serialized_start=692 - _globals['_CAMERACONFIG']._serialized_end=820 + _globals['_REALSENSECAMERACONFIG']._serialized_end=401 + _globals['_UVCCAMERACONFIG']._serialized_start=404 + _globals['_UVCCAMERACONFIG']._serialized_end=669 + _globals['_MECHMINDCAMERACONFIG']._serialized_start=671 + _globals['_MECHMINDCAMERACONFIG']._serialized_end=775 + _globals['_CAMERADEVICECONFIG']._serialized_start=778 + _globals['_CAMERADEVICECONFIG']._serialized_end=984 + _globals['_CAMERACONFIG']._serialized_start=986 + _globals['_CAMERACONFIG']._serialized_end=1050 + _globals['_CAMERAROOTCONFIG']._serialized_start=1052 + _globals['_CAMERAROOTCONFIG']._serialized_end=1113 # @@protoc_insertion_point(module_scope) diff --git a/generated/cmvr/config/cmvr_es_config/__init__.py b/generated/cmvr/config/cmvr_es_config/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/generated/cmvr/config/pinocchio_qp_ik_solver_config_pb2.py b/generated/cmvr/config/cmvr_es_config/cmvr_es_config_pb2.py similarity index 55% rename from generated/cmvr/config/pinocchio_qp_ik_solver_config_pb2.py rename to generated/cmvr/config/cmvr_es_config/cmvr_es_config_pb2.py index 130cca9..6ad7765 100644 --- a/generated/cmvr/config/pinocchio_qp_ik_solver_config_pb2.py +++ b/generated/cmvr/config/cmvr_es_config/cmvr_es_config_pb2.py @@ -1,7 +1,7 @@ # -*- coding: utf-8 -*- # Generated by the protocol buffer compiler. DO NOT EDIT! # NO CHECKED-IN PROTOBUF GENCODE -# source: cmvr/config/pinocchio_qp_ik_solver_config.proto +# source: cmvr/config/cmvr_es_config/cmvr_es_config.proto # Protobuf Python Version: 6.31.1 """Generated protocol buffer code.""" from google.protobuf import descriptor as _descriptor @@ -15,7 +15,7 @@ _runtime_version.ValidateProtobufRuntimeVersion( 31, 1, '', - 'cmvr/config/pinocchio_qp_ik_solver_config.proto' + 'cmvr/config/cmvr_es_config/cmvr_es_config.proto' ) # @@protoc_insertion_point(imports) @@ -24,13 +24,15 @@ _sym_db = _symbol_database.Default() -DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n/cmvr/config/pinocchio_qp_ik_solver_config.proto\x12\x0b\x63mvr.config\"\xcd\x01\n\x13PinocchioQpIKConfig\x12\x11\n\turdf_path\x18\x01 \x01(\t\x12\x17\n\x0f\x62\x61se_frame_name\x18\x02 \x01(\t\x12\x19\n\x11\x66lange_frame_name\x18\x03 \x01(\t\x12\x16\n\x0etcp_frame_name\x18\x04 \x01(\t\x12\x0e\n\x06lambda\x18\x05 \x01(\x01\x12\x10\n\x08w_posrot\x18\x06 \x01(\x01\x12\x11\n\tmax_iters\x18\x07 \x01(\x05\x12\x0b\n\x03tol\x18\x08 \x01(\x01\x12\x15\n\rqp_time_limit\x18\t \x01(\x01\x62\x06proto3') +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n/cmvr/config/cmvr_es_config/cmvr_es_config.proto\x12\x0b\x63mvr.config\"\x9d\x01\n\x0c\x43MVRESConfig\x12\x1a\n\x12logger_config_file\x18\x01 \x01(\t\x12\"\n\x1a\x64\x65vice_manager_config_file\x18\x02 \x01(\t\x12 \n\x18task_manager_config_file\x18\x04 \x01(\t\x12\x1f\n\x17grpc_server_config_file\x18\x06 \x01(\tJ\x04\x08\x03\x10\x04J\x04\x08\x05\x10\x06\">\n\x10\x43MVRESRootConfig\x12*\n\x07\x63mvr_es\x18\x01 \x01(\x0b\x32\x19.cmvr.config.CMVRESConfigb\x06proto3') _globals = globals() _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) -_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.config.pinocchio_qp_ik_solver_config_pb2', _globals) +_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.config.cmvr_es_config.cmvr_es_config_pb2', _globals) if not _descriptor._USE_C_DESCRIPTORS: DESCRIPTOR._loaded_options = None - _globals['_PINOCCHIOQPIKCONFIG']._serialized_start=65 - _globals['_PINOCCHIOQPIKCONFIG']._serialized_end=270 + _globals['_CMVRESCONFIG']._serialized_start=65 + _globals['_CMVRESCONFIG']._serialized_end=222 + _globals['_CMVRESROOTCONFIG']._serialized_start=224 + _globals['_CMVRESROOTCONFIG']._serialized_end=286 # @@protoc_insertion_point(module_scope) diff --git a/generated/cmvr/config/cmvr_es_config/cmvr_es_config_pb2_grpc.py b/generated/cmvr/config/cmvr_es_config/cmvr_es_config_pb2_grpc.py new file mode 100644 index 0000000..482c7df --- /dev/null +++ b/generated/cmvr/config/cmvr_es_config/cmvr_es_config_pb2_grpc.py @@ -0,0 +1,24 @@ +# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! +"""Client and server classes corresponding to protobuf-defined services.""" +import grpc +import warnings + + +GRPC_GENERATED_VERSION = '1.76.0' +GRPC_VERSION = grpc.__version__ +_version_not_supported = False + +try: + from grpc._utilities import first_version_is_lower + _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION) +except ImportError: + _version_not_supported = True + +if _version_not_supported: + raise RuntimeError( + f'The grpc package installed is at version {GRPC_VERSION},' + + ' but the generated code in cmvr/config/cmvr_es_config/cmvr_es_config_pb2_grpc.py depends on' + + f' grpcio>={GRPC_GENERATED_VERSION}.' + + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' + + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' + ) diff --git a/generated/cmvr/config/device_manager_config/__init__.py b/generated/cmvr/config/device_manager_config/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/generated/cmvr/config/device_manager_config/device_manager_config_pb2.py b/generated/cmvr/config/device_manager_config/device_manager_config_pb2.py new file mode 100644 index 0000000..792f5cd --- /dev/null +++ b/generated/cmvr/config/device_manager_config/device_manager_config_pb2.py @@ -0,0 +1,42 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# NO CHECKED-IN PROTOBUF GENCODE +# source: cmvr/config/device_manager_config/device_manager_config.proto +# Protobuf Python Version: 6.31.1 +"""Generated protocol buffer code.""" +from google.protobuf import descriptor as _descriptor +from google.protobuf import descriptor_pool as _descriptor_pool +from google.protobuf import runtime_version as _runtime_version +from google.protobuf import symbol_database as _symbol_database +from google.protobuf.internal import builder as _builder +_runtime_version.ValidateProtobufRuntimeVersion( + _runtime_version.Domain.PUBLIC, + 6, + 31, + 1, + '', + 'cmvr/config/device_manager_config/device_manager_config.proto' +) +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + + + +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n=cmvr/config/device_manager_config/device_manager_config.proto\x12\x0b\x63mvr.config\"\xa4\x05\n\x11\x44\x65viceConfigEntry\x12\n\n\x02id\x18\x01 \x01(\t\x12\x37\n\x04type\x18\x02 \x01(\x0e\x32).cmvr.config.DeviceConfigEntry.DeviceType\x12\x13\n\x0b\x63onfig_file\x18\x03 \x01(\t\x12\x0e\n\x06\x65nable\x18\x04 \x01(\x08\"\xa4\x04\n\nDeviceType\x12\x17\n\x13\x44\x45VICE_TYPE_UNKNOWN\x10\x00\x12\x1e\n\x1a\x44\x45VICE_TYPE_BIO_HEAD_ROBOT\x10\x08\x12\x1c\n\x18\x44\x45VICE_TYPE_MOTOR_SYSTEM\x10\t\x12\x19\n\x15\x44\x45VICE_TYPE_ROBOT_ARM\x10\x0c\x12\x16\n\x12\x44\x45VICE_TYPE_CAMERA\x10\r\x12\x17\n\x13\x44\x45VICE_TYPE_DEXHAND\x10\x0e\x12\x1a\n\x16\x44\x45VICE_TYPE_MICROPHONE\x10\x0f\x12\x17\n\x13\x44\x45VICE_TYPE_SPEAKER\x10\x10\x12\x13\n\x0f\x44\x45VICE_TYPE_AGV\x10\x11\"\x04\x08\x01\x10\x01\"\x04\x08\x02\x10\x02\"\x04\x08\x03\x10\x03\"\x04\x08\x04\x10\x04\"\x04\x08\x05\x10\x05\"\x04\x08\x06\x10\x06\"\x04\x08\x07\x10\x07\"\x04\x08\n\x10\n\"\x04\x08\x0b\x10\x0b*\x16\x44\x45VICE_TYPE_UVC_CAMERA*\x1c\x44\x45VICE_TYPE_REALSENSE_CAMERA*\x1c\x44\x45VICE_TYPE_RH56DFTP_DEXHAND*\x16\x44\x45VICE_TYPE_PX6AX_GEN3*\x1d\x44\x45VICE_TYPE_FFMPEG_MICROPHONE*\x1a\x44\x45VICE_TYPE_FFMPEG_SPEAKER*\x1a\x44\x45VICE_TYPE_HUMANOID_ROBOT*\x15\x44\x45VICE_TYPE_MOTOR_ARM*\x19\x44\x45VICE_TYPE_CARTESIAN_ARM\"z\n\x13\x44\x65viceManagerConfig\x12\x0c\n\x04name\x18\x01 \x01(\t\x12\x0f\n\x07version\x18\x02 \x01(\t\x12\x13\n\x0b\x64\x65scription\x18\x03 \x01(\t\x12/\n\x07\x64\x65vices\x18\x04 \x03(\x0b\x32\x1e.cmvr.config.DeviceConfigEntry\"S\n\x17\x44\x65viceManagerRootConfig\x12\x38\n\x0e\x64\x65vice_manager\x18\x01 \x01(\x0b\x32 .cmvr.config.DeviceManagerConfigb\x06proto3') + +_globals = globals() +_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) +_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.config.device_manager_config.device_manager_config_pb2', _globals) +if not _descriptor._USE_C_DESCRIPTORS: + DESCRIPTOR._loaded_options = None + _globals['_DEVICECONFIGENTRY']._serialized_start=79 + _globals['_DEVICECONFIGENTRY']._serialized_end=755 + _globals['_DEVICECONFIGENTRY_DEVICETYPE']._serialized_start=207 + _globals['_DEVICECONFIGENTRY_DEVICETYPE']._serialized_end=755 + _globals['_DEVICEMANAGERCONFIG']._serialized_start=757 + _globals['_DEVICEMANAGERCONFIG']._serialized_end=879 + _globals['_DEVICEMANAGERROOTCONFIG']._serialized_start=881 + _globals['_DEVICEMANAGERROOTCONFIG']._serialized_end=964 +# @@protoc_insertion_point(module_scope) diff --git a/generated/cmvr/config/device_manager_config/device_manager_config_pb2_grpc.py b/generated/cmvr/config/device_manager_config/device_manager_config_pb2_grpc.py new file mode 100644 index 0000000..86d83bb --- /dev/null +++ b/generated/cmvr/config/device_manager_config/device_manager_config_pb2_grpc.py @@ -0,0 +1,24 @@ +# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! +"""Client and server classes corresponding to protobuf-defined services.""" +import grpc +import warnings + + +GRPC_GENERATED_VERSION = '1.76.0' +GRPC_VERSION = grpc.__version__ +_version_not_supported = False + +try: + from grpc._utilities import first_version_is_lower + _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION) +except ImportError: + _version_not_supported = True + +if _version_not_supported: + raise RuntimeError( + f'The grpc package installed is at version {GRPC_VERSION},' + + ' but the generated code in cmvr/config/device_manager_config/device_manager_config_pb2_grpc.py depends on' + + f' grpcio>={GRPC_GENERATED_VERSION}.' + + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' + + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' + ) diff --git a/generated/cmvr/config/dexhand_config/dexhand_config_pb2.py b/generated/cmvr/config/dexhand_config/dexhand_config_pb2.py index 35bf933..b121f46 100644 --- a/generated/cmvr/config/dexhand_config/dexhand_config_pb2.py +++ b/generated/cmvr/config/dexhand_config/dexhand_config_pb2.py @@ -24,15 +24,23 @@ _sym_db = _symbol_database.Default() -DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n/cmvr/config/dexhand_config/dexhand_config.proto\x12\x0b\x63mvr.config\"M\n\x15RH56DFTPDexHandConfig\x12\n\n\x02id\x18\x01 \x01(\t\x12\n\n\x02ip\x18\x02 \x01(\t\x12\x0c\n\x04port\x18\x03 \x01(\x05\x12\x0e\n\x06\x65nable\x18\x04 \x01(\x08\"N\n\rDexHandConfig\x12=\n\x11rh56dftp_dexhands\x18\x01 \x03(\x0b\x32\".cmvr.config.RH56DFTPDexHandConfigb\x06proto3') +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n/cmvr/config/dexhand_config/dexhand_config.proto\x12\x0b\x63mvr.config\"]\n\x15RH56DFTPDexHandConfig\x12\n\n\x02id\x18\x01 \x01(\t\x12\n\n\x02ip\x18\x02 \x01(\t\x12\x0c\n\x04port\x18\x03 \x01(\x05\x12\x18\n\x10poll_interval_ms\x18\x05 \x01(\x05J\x04\x08\x04\x10\x05\"\xc5\x03\n\tPX6AXGen3\x12\n\n\x02id\x18\x01 \x01(\t\x12\x13\n\x0bserial_port\x18\x02 \x01(\t\x12\x14\n\x0csensor_model\x18\x03 \x01(\t\x12\x11\n\tmodule_id\x18\x04 \x01(\x05\x12\x11\n\tbaud_rate\x18\x05 \x01(\x05\x12\x1a\n\x12\x64istributed_length\x18\x06 \x01(\x05\x12\x18\n\x10resultant_length\x18\x07 \x01(\x05\x12\x18\n\x10poll_interval_ms\x18\x08 \x01(\x05\x12\x16\n\x0e\x61uto_calibrate\x18\t \x01(\x08\x12\x1b\n\x13response_timeout_ms\x18\x0b \x01(\x05\x12\x14\n\x0ctactile_rows\x18\x0c \x01(\x05\x12\x14\n\x0ctactile_cols\x18\r \x01(\x05\x12\x1d\n\x15response_header_bytes\x18\x0e \x01(\x05\x12\x16\n\x0etactile_finger\x18\x0f \x01(\t\x12\x16\n\x0etactile_region\x18\x10 \x01(\t\x12\x13\n\x0bsensor_name\x18\x11 \x01(\t\x12@\n\x11polling_read_mode\x18\x12 \x01(\x0e\x32%.cmvr.config.PX6AXGen3PollingReadModeJ\x04\x08\n\x10\x0b\"\x99\x01\n\x13\x44\x65xHandDeviceConfig\x12\n\n\x02id\x18\x01 \x01(\t\x12\x36\n\x08rh56dftp\x18\n \x01(\x0b\x32\".cmvr.config.RH56DFTPDexHandConfigH\x00\x12-\n\x0bpx_6ax_gen3\x18\x0b \x01(\x0b\x32\x16.cmvr.config.PX6AXGen3H\x00\x42\t\n\x07\x62\x61\x63kendJ\x04\x08\x02\x10\x03\"C\n\rDexHandConfig\x12\x32\n\x08\x64\x65xhands\x18\x01 \x03(\x0b\x32 .cmvr.config.DexHandDeviceConfig\"@\n\x11\x44\x65xHandRootConfig\x12+\n\x07\x64\x65xhand\x18\x01 \x01(\x0b\x32\x1a.cmvr.config.DexHandConfig*\xc5\x01\n\x18PX6AXGen3PollingReadMode\x12\x41\n=PX_6AX_GEN3_POLLING_READ_MODE_DISTRIBUTED_AND_RESULTANT_FORCE\x10\x00\x12\x33\n/PX_6AX_GEN3_POLLING_READ_MODE_DISTRIBUTED_FORCE\x10\x01\x12\x31\n-PX_6AX_GEN3_POLLING_READ_MODE_RESULTANT_FORCE\x10\x02\x62\x06proto3') _globals = globals() _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.config.dexhand_config.dexhand_config_pb2', _globals) if not _descriptor._USE_C_DESCRIPTORS: DESCRIPTOR._loaded_options = None + _globals['_PX6AXGEN3POLLINGREADMODE']._serialized_start=907 + _globals['_PX6AXGEN3POLLINGREADMODE']._serialized_end=1104 _globals['_RH56DFTPDEXHANDCONFIG']._serialized_start=64 - _globals['_RH56DFTPDEXHANDCONFIG']._serialized_end=141 - _globals['_DEXHANDCONFIG']._serialized_start=143 - _globals['_DEXHANDCONFIG']._serialized_end=221 + _globals['_RH56DFTPDEXHANDCONFIG']._serialized_end=157 + _globals['_PX6AXGEN3']._serialized_start=160 + _globals['_PX6AXGEN3']._serialized_end=613 + _globals['_DEXHANDDEVICECONFIG']._serialized_start=616 + _globals['_DEXHANDDEVICECONFIG']._serialized_end=769 + _globals['_DEXHANDCONFIG']._serialized_start=771 + _globals['_DEXHANDCONFIG']._serialized_end=838 + _globals['_DEXHANDROOTCONFIG']._serialized_start=840 + _globals['_DEXHANDROOTCONFIG']._serialized_end=904 # @@protoc_insertion_point(module_scope) diff --git a/generated/cmvr/config/grpc_server_config/__init__.py b/generated/cmvr/config/grpc_server_config/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/generated/cmvr/config/grpc_server_config/grpc_server_config_pb2.py b/generated/cmvr/config/grpc_server_config/grpc_server_config_pb2.py new file mode 100644 index 0000000..4c284d8 --- /dev/null +++ b/generated/cmvr/config/grpc_server_config/grpc_server_config_pb2.py @@ -0,0 +1,38 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# NO CHECKED-IN PROTOBUF GENCODE +# source: cmvr/config/grpc_server_config/grpc_server_config.proto +# Protobuf Python Version: 6.31.1 +"""Generated protocol buffer code.""" +from google.protobuf import descriptor as _descriptor +from google.protobuf import descriptor_pool as _descriptor_pool +from google.protobuf import runtime_version as _runtime_version +from google.protobuf import symbol_database as _symbol_database +from google.protobuf.internal import builder as _builder +_runtime_version.ValidateProtobufRuntimeVersion( + _runtime_version.Domain.PUBLIC, + 6, + 31, + 1, + '', + 'cmvr/config/grpc_server_config/grpc_server_config.proto' +) +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + + + +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n7cmvr/config/grpc_server_config/grpc_server_config.proto\x12\x0b\x63mvr.config\"U\n\x10GRPCServerConfig\x12\x0c\n\x04host\x18\x01 \x01(\t\x12\x0c\n\x04port\x18\x02 \x01(\t\x12\x19\n\x11\x65nable_reflection\x18\x03 \x01(\x08\x12\n\n\x02id\x18\x04 \x01(\t\"J\n\x14GRPCServerRootConfig\x12\x32\n\x0bgrpc_server\x18\x01 \x01(\x0b\x32\x1d.cmvr.config.GRPCServerConfigb\x06proto3') + +_globals = globals() +_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) +_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.config.grpc_server_config.grpc_server_config_pb2', _globals) +if not _descriptor._USE_C_DESCRIPTORS: + DESCRIPTOR._loaded_options = None + _globals['_GRPCSERVERCONFIG']._serialized_start=72 + _globals['_GRPCSERVERCONFIG']._serialized_end=157 + _globals['_GRPCSERVERROOTCONFIG']._serialized_start=159 + _globals['_GRPCSERVERROOTCONFIG']._serialized_end=233 +# @@protoc_insertion_point(module_scope) diff --git a/generated/cmvr/config/grpc_server_config/grpc_server_config_pb2_grpc.py b/generated/cmvr/config/grpc_server_config/grpc_server_config_pb2_grpc.py new file mode 100644 index 0000000..37c22a3 --- /dev/null +++ b/generated/cmvr/config/grpc_server_config/grpc_server_config_pb2_grpc.py @@ -0,0 +1,24 @@ +# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! +"""Client and server classes corresponding to protobuf-defined services.""" +import grpc +import warnings + + +GRPC_GENERATED_VERSION = '1.76.0' +GRPC_VERSION = grpc.__version__ +_version_not_supported = False + +try: + from grpc._utilities import first_version_is_lower + _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION) +except ImportError: + _version_not_supported = True + +if _version_not_supported: + raise RuntimeError( + f'The grpc package installed is at version {GRPC_VERSION},' + + ' but the generated code in cmvr/config/grpc_server_config/grpc_server_config_pb2_grpc.py depends on' + + f' grpcio>={GRPC_GENERATED_VERSION}.' + + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' + + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' + ) diff --git a/generated/cmvr/config/lawba_ik_config_pb2.py b/generated/cmvr/config/lawba_ik_config_pb2.py new file mode 100644 index 0000000..7e10260 --- /dev/null +++ b/generated/cmvr/config/lawba_ik_config_pb2.py @@ -0,0 +1,37 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# NO CHECKED-IN PROTOBUF GENCODE +# source: cmvr/config/lawba_ik_config.proto +# Protobuf Python Version: 6.31.1 +"""Generated protocol buffer code.""" +from google.protobuf import descriptor as _descriptor +from google.protobuf import descriptor_pool as _descriptor_pool +from google.protobuf import runtime_version as _runtime_version +from google.protobuf import symbol_database as _symbol_database +from google.protobuf.internal import builder as _builder +_runtime_version.ValidateProtobufRuntimeVersion( + _runtime_version.Domain.PUBLIC, + 6, + 31, + 1, + '', + 'cmvr/config/lawba_ik_config.proto' +) +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + +from cmvr.config import srs_ik_config_pb2 as cmvr_dot_config_dot_srs__ik__config__pb2 + + +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n!cmvr/config/lawba_ik_config.proto\x12\x0b\x63mvr.config\x1a\x1f\x63mvr/config/srs_ik_config.proto\"\xd5\x01\n\rLawbaIKConfig\x12,\n\nsrs_config\x18\x01 \x01(\x0b\x32\x18.cmvr.config.SrsIKConfig\x12\x10\n\x08lambda_q\x18\x02 \x01(\x01\x12!\n\x19\x63ur_branch_cost_threshold\x18\x03 \x01(\x01\x12\x1c\n\x14opt_psi_update_alpha\x18\x04 \x01(\x01\x12\x19\n\x11opt_psi_max_delta\x18\x05 \x01(\x01\x12\x13\n\x0bopt_psi_min\x18\x06 \x01(\x01\x12\x13\n\x0bopt_psi_eps\x18\x07 \x01(\x01\x62\x06proto3') + +_globals = globals() +_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) +_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.config.lawba_ik_config_pb2', _globals) +if not _descriptor._USE_C_DESCRIPTORS: + DESCRIPTOR._loaded_options = None + _globals['_LAWBAIKCONFIG']._serialized_start=84 + _globals['_LAWBAIKCONFIG']._serialized_end=297 +# @@protoc_insertion_point(module_scope) diff --git a/generated/cmvr/config/lawba_ik_config_pb2_grpc.py b/generated/cmvr/config/lawba_ik_config_pb2_grpc.py new file mode 100644 index 0000000..8b6b33a --- /dev/null +++ b/generated/cmvr/config/lawba_ik_config_pb2_grpc.py @@ -0,0 +1,24 @@ +# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! +"""Client and server classes corresponding to protobuf-defined services.""" +import grpc +import warnings + + +GRPC_GENERATED_VERSION = '1.76.0' +GRPC_VERSION = grpc.__version__ +_version_not_supported = False + +try: + from grpc._utilities import first_version_is_lower + _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION) +except ImportError: + _version_not_supported = True + +if _version_not_supported: + raise RuntimeError( + f'The grpc package installed is at version {GRPC_VERSION},' + + ' but the generated code in cmvr/config/lawba_ik_config_pb2_grpc.py depends on' + + f' grpcio>={GRPC_GENERATED_VERSION}.' + + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' + + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' + ) diff --git a/generated/cmvr/config/logger_config/__init__.py b/generated/cmvr/config/logger_config/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/generated/cmvr/config/logger_config/logger_config_pb2.py b/generated/cmvr/config/logger_config/logger_config_pb2.py new file mode 100644 index 0000000..f91ac00 --- /dev/null +++ b/generated/cmvr/config/logger_config/logger_config_pb2.py @@ -0,0 +1,44 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# NO CHECKED-IN PROTOBUF GENCODE +# source: cmvr/config/logger_config/logger_config.proto +# Protobuf Python Version: 6.31.1 +"""Generated protocol buffer code.""" +from google.protobuf import descriptor as _descriptor +from google.protobuf import descriptor_pool as _descriptor_pool +from google.protobuf import runtime_version as _runtime_version +from google.protobuf import symbol_database as _symbol_database +from google.protobuf.internal import builder as _builder +_runtime_version.ValidateProtobufRuntimeVersion( + _runtime_version.Domain.PUBLIC, + 6, + 31, + 1, + '', + 'cmvr/config/logger_config/logger_config.proto' +) +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + + + +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n-cmvr/config/logger_config/logger_config.proto\x12\x0b\x63mvr.config\"P\n\x08LogRoute\x12$\n\x05level\x18\x01 \x01(\x0e\x32\x15.cmvr.config.LogLevel\x12\x10\n\x08terminal\x18\x02 \x01(\x08\x12\x0c\n\x04\x66ile\x18\x03 \x01(\x08\"\xc5\x01\n\tLogFormat\x12\x16\n\tshow_time\x18\x01 \x01(\x08H\x00\x88\x01\x01\x12\x17\n\nshow_level\x18\x02 \x01(\x08H\x01\x88\x01\x01\x12\x1b\n\x0eshow_thread_id\x18\x03 \x01(\x08H\x02\x88\x01\x01\x12!\n\x14show_source_location\x18\x04 \x01(\x08H\x03\x88\x01\x01\x42\x0c\n\n_show_timeB\r\n\x0b_show_levelB\x11\n\x0f_show_thread_idB\x17\n\x15_show_source_location\"\xd8\x01\n\x0cLoggerConfig\x12,\n\rminimum_level\x18\x01 \x01(\x0e\x32\x15.cmvr.config.LogLevel\x12%\n\x06routes\x18\x02 \x03(\x0b\x32\x15.cmvr.config.LogRoute\x12\x11\n\tdirectory\x18\x03 \x01(\t\x12\x18\n\x10max_file_size_mb\x18\x04 \x01(\x05\x12\x1e\n\x16\x66lush_interval_seconds\x18\x05 \x01(\x05\x12&\n\x06\x66ormat\x18\x06 \x01(\x0b\x32\x16.cmvr.config.LogFormat\"=\n\x10LoggerRootConfig\x12)\n\x06logger\x18\x01 \x01(\x0b\x32\x19.cmvr.config.LoggerConfig*\x8f\x01\n\x08LogLevel\x12\x19\n\x15LOG_LEVEL_UNSPECIFIED\x10\x00\x12\x13\n\x0fLOG_LEVEL_DEBUG\x10\x01\x12\x12\n\x0eLOG_LEVEL_INFO\x10\x02\x12\x15\n\x11LOG_LEVEL_WARNING\x10\x03\x12\x13\n\x0fLOG_LEVEL_ERROR\x10\x04\x12\x13\n\x0fLOG_LEVEL_FATAL\x10\x05\x62\x06proto3') + +_globals = globals() +_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) +_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.config.logger_config.logger_config_pb2', _globals) +if not _descriptor._USE_C_DESCRIPTORS: + DESCRIPTOR._loaded_options = None + _globals['_LOGLEVEL']._serialized_start=627 + _globals['_LOGLEVEL']._serialized_end=770 + _globals['_LOGROUTE']._serialized_start=62 + _globals['_LOGROUTE']._serialized_end=142 + _globals['_LOGFORMAT']._serialized_start=145 + _globals['_LOGFORMAT']._serialized_end=342 + _globals['_LOGGERCONFIG']._serialized_start=345 + _globals['_LOGGERCONFIG']._serialized_end=561 + _globals['_LOGGERROOTCONFIG']._serialized_start=563 + _globals['_LOGGERROOTCONFIG']._serialized_end=624 +# @@protoc_insertion_point(module_scope) diff --git a/generated/cmvr/config/logger_config/logger_config_pb2_grpc.py b/generated/cmvr/config/logger_config/logger_config_pb2_grpc.py new file mode 100644 index 0000000..612172c --- /dev/null +++ b/generated/cmvr/config/logger_config/logger_config_pb2_grpc.py @@ -0,0 +1,24 @@ +# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! +"""Client and server classes corresponding to protobuf-defined services.""" +import grpc +import warnings + + +GRPC_GENERATED_VERSION = '1.76.0' +GRPC_VERSION = grpc.__version__ +_version_not_supported = False + +try: + from grpc._utilities import first_version_is_lower + _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION) +except ImportError: + _version_not_supported = True + +if _version_not_supported: + raise RuntimeError( + f'The grpc package installed is at version {GRPC_VERSION},' + + ' but the generated code in cmvr/config/logger_config/logger_config_pb2_grpc.py depends on' + + f' grpcio>={GRPC_GENERATED_VERSION}.' + + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' + + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' + ) diff --git a/generated/cmvr/config/microphone_config/microphone_config_pb2.py b/generated/cmvr/config/microphone_config/microphone_config_pb2.py index 80620f7..859c557 100644 --- a/generated/cmvr/config/microphone_config/microphone_config_pb2.py +++ b/generated/cmvr/config/microphone_config/microphone_config_pb2.py @@ -24,15 +24,19 @@ _sym_db = _symbol_database.Default() -DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n5cmvr/config/microphone_config/microphone_config.proto\x12\x0b\x63mvr.config\"\x80\x01\n\x16\x46\x46MpegMicroPhoneConfig\x12\n\n\x02id\x18\x01 \x01(\t\x12\x10\n\x08\x63hannels\x18\x02 \x01(\x05\x12\x12\n\nsampleRate\x18\x03 \x01(\x05\x12\x0e\n\x06volume\x18\x04 \x01(\x05\x12\x0e\n\x06\x65nable\x18\x05 \x01(\x08\x12\x14\n\x0cinput_device\x18\x06 \x01(\t\"S\n\x10MicroPhoneConfig\x12?\n\x12\x66\x66mpeg_microphones\x18\x01 \x03(\x0b\x32#.cmvr.config.FFMpegMicroPhoneConfigb\x06proto3') +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n5cmvr/config/microphone_config/microphone_config.proto\x12\x0b\x63mvr.config\"v\n\x16\x46\x46MpegMicroPhoneConfig\x12\n\n\x02id\x18\x01 \x01(\t\x12\x10\n\x08\x63hannels\x18\x02 \x01(\x05\x12\x12\n\nsampleRate\x18\x03 \x01(\x05\x12\x0e\n\x06volume\x18\x04 \x01(\x05\x12\x14\n\x0cinput_device\x18\x06 \x01(\tJ\x04\x08\x05\x10\x06\"l\n\x16MicrophoneDeviceConfig\x12\n\n\x02id\x18\x01 \x01(\t\x12\x35\n\x06\x66\x66mpeg\x18\n \x01(\x0b\x32#.cmvr.config.FFMpegMicroPhoneConfigH\x00\x42\t\n\x07\x62\x61\x63kendJ\x04\x08\x02\x10\x03\"L\n\x10MicroPhoneConfig\x12\x38\n\x0bmicrophones\x18\x01 \x03(\x0b\x32#.cmvr.config.MicrophoneDeviceConfig\"I\n\x14MicroPhoneRootConfig\x12\x31\n\nmicrophone\x18\x01 \x01(\x0b\x32\x1d.cmvr.config.MicroPhoneConfigb\x06proto3') _globals = globals() _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.config.microphone_config.microphone_config_pb2', _globals) if not _descriptor._USE_C_DESCRIPTORS: DESCRIPTOR._loaded_options = None - _globals['_FFMPEGMICROPHONECONFIG']._serialized_start=71 - _globals['_FFMPEGMICROPHONECONFIG']._serialized_end=199 - _globals['_MICROPHONECONFIG']._serialized_start=201 - _globals['_MICROPHONECONFIG']._serialized_end=284 + _globals['_FFMPEGMICROPHONECONFIG']._serialized_start=70 + _globals['_FFMPEGMICROPHONECONFIG']._serialized_end=188 + _globals['_MICROPHONEDEVICECONFIG']._serialized_start=190 + _globals['_MICROPHONEDEVICECONFIG']._serialized_end=298 + _globals['_MICROPHONECONFIG']._serialized_start=300 + _globals['_MICROPHONECONFIG']._serialized_end=376 + _globals['_MICROPHONEROOTCONFIG']._serialized_start=378 + _globals['_MICROPHONEROOTCONFIG']._serialized_end=451 # @@protoc_insertion_point(module_scope) diff --git a/generated/cmvr/config/motor_config/__init__.py b/generated/cmvr/config/motor_config/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/generated/cmvr/config/motor_config/motor_config_pb2.py b/generated/cmvr/config/motor_config/motor_config_pb2.py new file mode 100644 index 0000000..64f7923 --- /dev/null +++ b/generated/cmvr/config/motor_config/motor_config_pb2.py @@ -0,0 +1,48 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# NO CHECKED-IN PROTOBUF GENCODE +# source: cmvr/config/motor_config/motor_config.proto +# Protobuf Python Version: 6.31.1 +"""Generated protocol buffer code.""" +from google.protobuf import descriptor as _descriptor +from google.protobuf import descriptor_pool as _descriptor_pool +from google.protobuf import runtime_version as _runtime_version +from google.protobuf import symbol_database as _symbol_database +from google.protobuf.internal import builder as _builder +_runtime_version.ValidateProtobufRuntimeVersion( + _runtime_version.Domain.PUBLIC, + 6, + 31, + 1, + '', + 'cmvr/config/motor_config/motor_config.proto' +) +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + + + +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n+cmvr/config/motor_config/motor_config.proto\x12\x0b\x63mvr.config\"j\n\x0eTi5MotorConfig\x12\n\n\x02id\x18\x01 \x01(\x05\x12\x12\n\njoint_name\x18\x02 \x01(\t\x12\x12\n\nlimit_q_lb\x18\x03 \x01(\x01\x12\x12\n\nlimit_q_ub\x18\x04 \x01(\x01\x12\x10\n\x08limit_qd\x18\x05 \x01(\x01\"5\n\x0fSocketCanConfig\x12\x0e\n\x06\x64\x65v_id\x18\x01 \x01(\t\x12\x12\n\nchannel_id\x18\x02 \x01(\x05\"5\n\x0e\x45therCATConfig\x12\x11\n\tmaster_id\x18\x01 \x01(\t\x12\x10\n\x08\x63ycle_us\x18\x02 \x01(\x05\"\xf8\x01\n\x10MotorGroupConfig\x12\n\n\x02id\x18\x01 \x01(\t\x12+\n\x08\x62us_type\x18\x02 \x01(\x0e\x32\x19.cmvr.config.MotorBusType\x12\x12\n\ntool_frame\x18\x03 \x01(\t\x12+\n\x03\x63\x61n\x18\n \x01(\x0b\x32\x1c.cmvr.config.SocketCanConfigH\x00\x12/\n\x08\x65thercat\x18\x0b \x01(\x0b\x32\x1b.cmvr.config.EtherCATConfigH\x00\x12+\n\x06motors\x18\x14 \x03(\x0b\x32\x1b.cmvr.config.Ti5MotorConfigB\x0c\n\nbus_config\"N\n\x0bMotorConfig\x12\n\n\x02id\x18\x01 \x01(\t\x12\x33\n\x0cmotor_groups\x18\x02 \x03(\x0b\x32\x1d.cmvr.config.MotorGroupConfig\":\n\x0fMotorRootConfig\x12\'\n\x05motor\x18\x01 \x01(\x0b\x32\x18.cmvr.config.MotorConfig*f\n\x0cMotorBusType\x12\x15\n\x11MOTOR_BUS_UNKNOWN\x10\x00\x12\x11\n\rMOTOR_BUS_CAN\x10\x01\x12\x16\n\x12MOTOR_BUS_ETHERCAT\x10\x02\x12\x14\n\x10MOTOR_BUS_MUJOCO\x10\x03\x62\x06proto3') + +_globals = globals() +_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) +_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.config.motor_config.motor_config_pb2', _globals) +if not _descriptor._USE_C_DESCRIPTORS: + DESCRIPTOR._loaded_options = None + _globals['_MOTORBUSTYPE']._serialized_start=669 + _globals['_MOTORBUSTYPE']._serialized_end=771 + _globals['_TI5MOTORCONFIG']._serialized_start=60 + _globals['_TI5MOTORCONFIG']._serialized_end=166 + _globals['_SOCKETCANCONFIG']._serialized_start=168 + _globals['_SOCKETCANCONFIG']._serialized_end=221 + _globals['_ETHERCATCONFIG']._serialized_start=223 + _globals['_ETHERCATCONFIG']._serialized_end=276 + _globals['_MOTORGROUPCONFIG']._serialized_start=279 + _globals['_MOTORGROUPCONFIG']._serialized_end=527 + _globals['_MOTORCONFIG']._serialized_start=529 + _globals['_MOTORCONFIG']._serialized_end=607 + _globals['_MOTORROOTCONFIG']._serialized_start=609 + _globals['_MOTORROOTCONFIG']._serialized_end=667 +# @@protoc_insertion_point(module_scope) diff --git a/generated/cmvr/config/motor_config/motor_config_pb2_grpc.py b/generated/cmvr/config/motor_config/motor_config_pb2_grpc.py new file mode 100644 index 0000000..610487a --- /dev/null +++ b/generated/cmvr/config/motor_config/motor_config_pb2_grpc.py @@ -0,0 +1,24 @@ +# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! +"""Client and server classes corresponding to protobuf-defined services.""" +import grpc +import warnings + + +GRPC_GENERATED_VERSION = '1.76.0' +GRPC_VERSION = grpc.__version__ +_version_not_supported = False + +try: + from grpc._utilities import first_version_is_lower + _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION) +except ImportError: + _version_not_supported = True + +if _version_not_supported: + raise RuntimeError( + f'The grpc package installed is at version {GRPC_VERSION},' + + ' but the generated code in cmvr/config/motor_config/motor_config_pb2_grpc.py depends on' + + f' grpcio>={GRPC_GENERATED_VERSION}.' + + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' + + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' + ) diff --git a/generated/cmvr/config/pinocchio_dls_ik_config_pb2.py b/generated/cmvr/config/pinocchio_dls_ik_config_pb2.py index 58a880d..6e14e73 100644 --- a/generated/cmvr/config/pinocchio_dls_ik_config_pb2.py +++ b/generated/cmvr/config/pinocchio_dls_ik_config_pb2.py @@ -24,11 +24,15 @@ _sym_db = _symbol_database.Default() -DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n)cmvr/config/pinocchio_dls_ik_config.proto') +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n)cmvr/config/pinocchio_dls_ik_config.proto\x12\x0b\x63mvr.config\"\x82\x02\n\x14PinocchioDlsIKConfig\x12\x11\n\turdf_path\x18\x01 \x01(\t\x12\x17\n\x0f\x62\x61se_frame_name\x18\x02 \x01(\t\x12\x19\n\x11\x66lange_frame_name\x18\x03 \x01(\t\x12\x16\n\x0etcp_frame_name\x18\x04 \x01(\t\x12\x11\n\tmax_iters\x18\x05 \x01(\x05\x12\x0f\n\x07pos_eps\x18\x06 \x01(\x01\x12\x0f\n\x07rot_eps\x18\x07 \x01(\x01\x12\x0f\n\x07\x64\x61mping\x18\x08 \x01(\x01\x12\x45\n\x15joint_limit_avoidance\x18\t \x01(\x0b\x32&.cmvr.config.JointLimitAvoidanceConfig\"a\n\x19JointLimitAvoidanceConfig\x12\x0e\n\x06\x65nable\x18\x01 \x01(\x08\x12\x0c\n\x04gain\x18\x02 \x01(\x01\x12\x14\n\x0cmargin_ratio\x18\x03 \x01(\x01\x12\x10\n\x08max_push\x18\x04 \x01(\x01\x62\x06proto3') _globals = globals() _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.config.pinocchio_dls_ik_config_pb2', _globals) if not _descriptor._USE_C_DESCRIPTORS: DESCRIPTOR._loaded_options = None + _globals['_PINOCCHIODLSIKCONFIG']._serialized_start=59 + _globals['_PINOCCHIODLSIKCONFIG']._serialized_end=317 + _globals['_JOINTLIMITAVOIDANCECONFIG']._serialized_start=319 + _globals['_JOINTLIMITAVOIDANCECONFIG']._serialized_end=416 # @@protoc_insertion_point(module_scope) diff --git a/generated/cmvr/config/pinocchio_qp_ik_config_pb2.py b/generated/cmvr/config/pinocchio_qp_ik_config_pb2.py new file mode 100644 index 0000000..aec3311 --- /dev/null +++ b/generated/cmvr/config/pinocchio_qp_ik_config_pb2.py @@ -0,0 +1,36 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# NO CHECKED-IN PROTOBUF GENCODE +# source: cmvr/config/pinocchio_qp_ik_config.proto +# Protobuf Python Version: 6.31.1 +"""Generated protocol buffer code.""" +from google.protobuf import descriptor as _descriptor +from google.protobuf import descriptor_pool as _descriptor_pool +from google.protobuf import runtime_version as _runtime_version +from google.protobuf import symbol_database as _symbol_database +from google.protobuf.internal import builder as _builder +_runtime_version.ValidateProtobufRuntimeVersion( + _runtime_version.Domain.PUBLIC, + 6, + 31, + 1, + '', + 'cmvr/config/pinocchio_qp_ik_config.proto' +) +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + + + +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n(cmvr/config/pinocchio_qp_ik_config.proto\x12\x0b\x63mvr.config\"\xcd\x01\n\x13PinocchioQpIKConfig\x12\x11\n\turdf_path\x18\x01 \x01(\t\x12\x17\n\x0f\x62\x61se_frame_name\x18\x02 \x01(\t\x12\x19\n\x11\x66lange_frame_name\x18\x03 \x01(\t\x12\x16\n\x0etcp_frame_name\x18\x04 \x01(\t\x12\x0e\n\x06lambda\x18\x05 \x01(\x01\x12\x10\n\x08w_posrot\x18\x06 \x01(\x01\x12\x11\n\tmax_iters\x18\x07 \x01(\x05\x12\x0b\n\x03tol\x18\x08 \x01(\x01\x12\x15\n\rqp_time_limit\x18\t \x01(\x01\x62\x06proto3') + +_globals = globals() +_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) +_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.config.pinocchio_qp_ik_config_pb2', _globals) +if not _descriptor._USE_C_DESCRIPTORS: + DESCRIPTOR._loaded_options = None + _globals['_PINOCCHIOQPIKCONFIG']._serialized_start=58 + _globals['_PINOCCHIOQPIKCONFIG']._serialized_end=263 +# @@protoc_insertion_point(module_scope) diff --git a/generated/cmvr/config/pinocchio_qp_ik_solver_config_pb2_grpc.py b/generated/cmvr/config/pinocchio_qp_ik_config_pb2_grpc.py similarity index 95% rename from generated/cmvr/config/pinocchio_qp_ik_solver_config_pb2_grpc.py rename to generated/cmvr/config/pinocchio_qp_ik_config_pb2_grpc.py index 68c6d43..0cb600a 100644 --- a/generated/cmvr/config/pinocchio_qp_ik_solver_config_pb2_grpc.py +++ b/generated/cmvr/config/pinocchio_qp_ik_config_pb2_grpc.py @@ -17,7 +17,7 @@ except ImportError: if _version_not_supported: raise RuntimeError( f'The grpc package installed is at version {GRPC_VERSION},' - + ' but the generated code in cmvr/config/pinocchio_qp_ik_solver_config_pb2_grpc.py depends on' + + ' but the generated code in cmvr/config/pinocchio_qp_ik_config_pb2_grpc.py depends on' + f' grpcio>={GRPC_GENERATED_VERSION}.' + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' diff --git a/generated/cmvr/config/speaker_config/speaker_config_pb2.py b/generated/cmvr/config/speaker_config/speaker_config_pb2.py new file mode 100644 index 0000000..f81eb8e --- /dev/null +++ b/generated/cmvr/config/speaker_config/speaker_config_pb2.py @@ -0,0 +1,42 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# NO CHECKED-IN PROTOBUF GENCODE +# source: cmvr/config/speaker_config/speaker_config.proto +# Protobuf Python Version: 6.31.1 +"""Generated protocol buffer code.""" +from google.protobuf import descriptor as _descriptor +from google.protobuf import descriptor_pool as _descriptor_pool +from google.protobuf import runtime_version as _runtime_version +from google.protobuf import symbol_database as _symbol_database +from google.protobuf.internal import builder as _builder +_runtime_version.ValidateProtobufRuntimeVersion( + _runtime_version.Domain.PUBLIC, + 6, + 31, + 1, + '', + 'cmvr/config/speaker_config/speaker_config.proto' +) +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + + + +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n/cmvr/config/speaker_config/speaker_config.proto\x12\x0b\x63mvr.config\"\'\n\x13\x46\x46MpegSpeakerConfig\x12\n\n\x02id\x18\x01 \x01(\tJ\x04\x08\x02\x10\x03\"f\n\x13SpeakerDeviceConfig\x12\n\n\x02id\x18\x01 \x01(\t\x12\x32\n\x06\x66\x66mpeg\x18\n \x01(\x0b\x32 .cmvr.config.FFMpegSpeakerConfigH\x00\x42\t\n\x07\x62\x61\x63kendJ\x04\x08\x02\x10\x03\"C\n\rSpeakerConfig\x12\x32\n\x08speakers\x18\x01 \x03(\x0b\x32 .cmvr.config.SpeakerDeviceConfig\"@\n\x11SpeakerRootConfig\x12+\n\x07speaker\x18\x01 \x01(\x0b\x32\x1a.cmvr.config.SpeakerConfigb\x06proto3') + +_globals = globals() +_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) +_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.config.speaker_config.speaker_config_pb2', _globals) +if not _descriptor._USE_C_DESCRIPTORS: + DESCRIPTOR._loaded_options = None + _globals['_FFMPEGSPEAKERCONFIG']._serialized_start=64 + _globals['_FFMPEGSPEAKERCONFIG']._serialized_end=103 + _globals['_SPEAKERDEVICECONFIG']._serialized_start=105 + _globals['_SPEAKERDEVICECONFIG']._serialized_end=207 + _globals['_SPEAKERCONFIG']._serialized_start=209 + _globals['_SPEAKERCONFIG']._serialized_end=276 + _globals['_SPEAKERROOTCONFIG']._serialized_start=278 + _globals['_SPEAKERROOTCONFIG']._serialized_end=342 +# @@protoc_insertion_point(module_scope) diff --git a/generated/cmvr/config/speaker_config/speaker_conifg_pb2_grpc.py b/generated/cmvr/config/speaker_config/speaker_config_pb2_grpc.py similarity index 95% rename from generated/cmvr/config/speaker_config/speaker_conifg_pb2_grpc.py rename to generated/cmvr/config/speaker_config/speaker_config_pb2_grpc.py index fcf45ff..0588009 100644 --- a/generated/cmvr/config/speaker_config/speaker_conifg_pb2_grpc.py +++ b/generated/cmvr/config/speaker_config/speaker_config_pb2_grpc.py @@ -17,7 +17,7 @@ except ImportError: if _version_not_supported: raise RuntimeError( f'The grpc package installed is at version {GRPC_VERSION},' - + ' but the generated code in cmvr/config/speaker_config/speaker_conifg_pb2_grpc.py depends on' + + ' but the generated code in cmvr/config/speaker_config/speaker_config_pb2_grpc.py depends on' + f' grpcio>={GRPC_GENERATED_VERSION}.' + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' diff --git a/generated/cmvr/config/srs_ik_config_pb2.py b/generated/cmvr/config/srs_ik_config_pb2.py new file mode 100644 index 0000000..c6fd00a --- /dev/null +++ b/generated/cmvr/config/srs_ik_config_pb2.py @@ -0,0 +1,36 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# NO CHECKED-IN PROTOBUF GENCODE +# source: cmvr/config/srs_ik_config.proto +# Protobuf Python Version: 6.31.1 +"""Generated protocol buffer code.""" +from google.protobuf import descriptor as _descriptor +from google.protobuf import descriptor_pool as _descriptor_pool +from google.protobuf import runtime_version as _runtime_version +from google.protobuf import symbol_database as _symbol_database +from google.protobuf.internal import builder as _builder +_runtime_version.ValidateProtobufRuntimeVersion( + _runtime_version.Domain.PUBLIC, + 6, + 31, + 1, + '', + 'cmvr/config/srs_ik_config.proto' +) +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + + + +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1f\x63mvr/config/srs_ik_config.proto\x12\x0b\x63mvr.config\"\xb5\x01\n\x0bSrsIKConfig\x12\x13\n\x0binitial_psi\x18\x01 \x01(\x01\x12\x17\n\x0fshoulder_config\x18\x02 \x01(\x05\x12\x14\n\x0c\x65lbow_config\x18\x03 \x01(\x05\x12\x14\n\x0cwrist_config\x18\x04 \x01(\x05\x12\x14\n\x0clink_lengths\x18\n \x03(\x01\x12\x1a\n\x12joint_lower_limits\x18\x0b \x03(\x01\x12\x1a\n\x12joint_upper_limits\x18\x0c \x03(\x01\x62\x06proto3') + +_globals = globals() +_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) +_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.config.srs_ik_config_pb2', _globals) +if not _descriptor._USE_C_DESCRIPTORS: + DESCRIPTOR._loaded_options = None + _globals['_SRSIKCONFIG']._serialized_start=49 + _globals['_SRSIKCONFIG']._serialized_end=230 +# @@protoc_insertion_point(module_scope) diff --git a/generated/cmvr/config/srs_ik_config_pb2_grpc.py b/generated/cmvr/config/srs_ik_config_pb2_grpc.py new file mode 100644 index 0000000..09242b2 --- /dev/null +++ b/generated/cmvr/config/srs_ik_config_pb2_grpc.py @@ -0,0 +1,24 @@ +# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! +"""Client and server classes corresponding to protobuf-defined services.""" +import grpc +import warnings + + +GRPC_GENERATED_VERSION = '1.76.0' +GRPC_VERSION = grpc.__version__ +_version_not_supported = False + +try: + from grpc._utilities import first_version_is_lower + _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION) +except ImportError: + _version_not_supported = True + +if _version_not_supported: + raise RuntimeError( + f'The grpc package installed is at version {GRPC_VERSION},' + + ' but the generated code in cmvr/config/srs_ik_config_pb2_grpc.py depends on' + + f' grpcio>={GRPC_GENERATED_VERSION}.' + + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' + + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' + ) diff --git a/generated/cmvr/config/task_manager_config/__init__.py b/generated/cmvr/config/task_manager_config/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/generated/cmvr/config/task_manager_config/task_manager_config_pb2.py b/generated/cmvr/config/task_manager_config/task_manager_config_pb2.py new file mode 100644 index 0000000..6166b79 --- /dev/null +++ b/generated/cmvr/config/task_manager_config/task_manager_config_pb2.py @@ -0,0 +1,44 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# NO CHECKED-IN PROTOBUF GENCODE +# source: cmvr/config/task_manager_config/task_manager_config.proto +# Protobuf Python Version: 6.31.1 +"""Generated protocol buffer code.""" +from google.protobuf import descriptor as _descriptor +from google.protobuf import descriptor_pool as _descriptor_pool +from google.protobuf import runtime_version as _runtime_version +from google.protobuf import symbol_database as _symbol_database +from google.protobuf.internal import builder as _builder +_runtime_version.ValidateProtobufRuntimeVersion( + _runtime_version.Domain.PUBLIC, + 6, + 31, + 1, + '', + 'cmvr/config/task_manager_config/task_manager_config.proto' +) +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + + + +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n9cmvr/config/task_manager_config/task_manager_config.proto\x12\x0b\x63mvr.config\"\xb3\x03\n\x0fTaskConfigEntry\x12\n\n\x02id\x18\x01 \x01(\t\x12\x33\n\x04type\x18\x02 \x01(\x0e\x32%.cmvr.config.TaskConfigEntry.TaskType\x12\x13\n\x0b\x63onfig_file\x18\x03 \x01(\t\x12\x0e\n\x06\x65nable\x18\x04 \x01(\x08\x12:\n\x08run_mode\x18\x05 \x01(\x0e\x32(.cmvr.config.TaskConfigEntry.TaskRunMode\x12\x18\n\x10\x63ontrol_period_s\x18\x06 \x01(\x01\"u\n\x08TaskType\x12\x15\n\x11TASK_TYPE_UNKNOWN\x10\x00\x12\x1a\n\x16TASK_TYPE_TOUCH_SCREEN\x10\x01\x12\x19\n\x15TASK_TYPE_GRPC_SERVER\x10\x03\"\x04\x08\x02\x10\x02*\x15TASK_TYPE_ARM_CONTROL\"m\n\x0bTaskRunMode\x12\x19\n\x15TASK_RUN_MODE_UNKNOWN\x10\x00\x12\x1f\n\x1bTASK_RUN_MODE_PERIODIC_STEP\x10\x01\x12\"\n\x1eTASK_RUN_MODE_BLOCKING_SERVICE\x10\x02\"@\n\x11TaskManagerConfig\x12+\n\x05tasks\x18\x01 \x03(\x0b\x32\x1c.cmvr.config.TaskConfigEntry\"M\n\x15TaskManagerRootConfig\x12\x34\n\x0ctask_manager\x18\x01 \x01(\x0b\x32\x1e.cmvr.config.TaskManagerConfigb\x06proto3') + +_globals = globals() +_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) +_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.config.task_manager_config.task_manager_config_pb2', _globals) +if not _descriptor._USE_C_DESCRIPTORS: + DESCRIPTOR._loaded_options = None + _globals['_TASKCONFIGENTRY']._serialized_start=75 + _globals['_TASKCONFIGENTRY']._serialized_end=510 + _globals['_TASKCONFIGENTRY_TASKTYPE']._serialized_start=282 + _globals['_TASKCONFIGENTRY_TASKTYPE']._serialized_end=399 + _globals['_TASKCONFIGENTRY_TASKRUNMODE']._serialized_start=401 + _globals['_TASKCONFIGENTRY_TASKRUNMODE']._serialized_end=510 + _globals['_TASKMANAGERCONFIG']._serialized_start=512 + _globals['_TASKMANAGERCONFIG']._serialized_end=576 + _globals['_TASKMANAGERROOTCONFIG']._serialized_start=578 + _globals['_TASKMANAGERROOTCONFIG']._serialized_end=655 +# @@protoc_insertion_point(module_scope) diff --git a/generated/cmvr/config/task_manager_config/task_manager_config_pb2_grpc.py b/generated/cmvr/config/task_manager_config/task_manager_config_pb2_grpc.py new file mode 100644 index 0000000..c7b66a0 --- /dev/null +++ b/generated/cmvr/config/task_manager_config/task_manager_config_pb2_grpc.py @@ -0,0 +1,24 @@ +# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! +"""Client and server classes corresponding to protobuf-defined services.""" +import grpc +import warnings + + +GRPC_GENERATED_VERSION = '1.76.0' +GRPC_VERSION = grpc.__version__ +_version_not_supported = False + +try: + from grpc._utilities import first_version_is_lower + _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION) +except ImportError: + _version_not_supported = True + +if _version_not_supported: + raise RuntimeError( + f'The grpc package installed is at version {GRPC_VERSION},' + + ' but the generated code in cmvr/config/task_manager_config/task_manager_config_pb2_grpc.py depends on' + + f' grpcio>={GRPC_GENERATED_VERSION}.' + + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' + + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' + ) diff --git a/generated/cmvr/config/touch_screen_algorithm_config_pb2.py b/generated/cmvr/config/touch_screen_algorithm_config_pb2.py new file mode 100644 index 0000000..96d9753 --- /dev/null +++ b/generated/cmvr/config/touch_screen_algorithm_config_pb2.py @@ -0,0 +1,40 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# NO CHECKED-IN PROTOBUF GENCODE +# source: cmvr/config/touch_screen_algorithm_config.proto +# Protobuf Python Version: 6.31.1 +"""Generated protocol buffer code.""" +from google.protobuf import descriptor as _descriptor +from google.protobuf import descriptor_pool as _descriptor_pool +from google.protobuf import runtime_version as _runtime_version +from google.protobuf import symbol_database as _symbol_database +from google.protobuf.internal import builder as _builder +_runtime_version.ValidateProtobufRuntimeVersion( + _runtime_version.Domain.PUBLIC, + 6, + 31, + 1, + '', + 'cmvr/config/touch_screen_algorithm_config.proto' +) +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + +from cmvr.common import geometry_pb2 as cmvr_dot_common_dot_geometry__pb2 +from cmvr.config import touch_screen_common_config_pb2 as cmvr_dot_config_dot_touch__screen__common__config__pb2 + + +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n/cmvr/config/touch_screen_algorithm_config.proto\x12\x0b\x63mvr.config\x1a\x1a\x63mvr/common/geometry.proto\x1a,cmvr/config/touch_screen_common_config.proto\"\xf9\x01\n\x19TouchScreenApriltagConfig\x12\x17\n\ntag_size_m\x18\x01 \x01(\x01H\x00\x88\x01\x01\x12>\n\x0c\x64\x65pth_policy\x18\x02 \x01(\x0e\x32#.cmvr.config.TouchScreenDepthPolicyH\x01\x88\x01\x01\x12K\n\x13target_point_method\x18\x03 \x01(\x0e\x32).cmvr.config.TouchScreenTargetPointMethodH\x02\x88\x01\x01\x42\r\n\x0b_tag_size_mB\x0f\n\r_depth_policyB\x16\n\x14_target_point_method\"\xcc\x05\n\x15TouchScreenIbvsConfig\x12\x18\n\x0b\x63\x61mera_link\x18\x01 \x01(\tH\x00\x88\x01\x01\x12\x13\n\x06lambda\x18\x02 \x01(\x01H\x01\x88\x01\x01\x12\x0f\n\x02mu\x18\x03 \x01(\x01H\x02\x88\x01\x01\x12\x15\n\x08qdot_max\x18\x04 \x01(\x01H\x03\x88\x01\x01\x12 \n\x05vmax6\x18\x05 \x01(\x0b\x32\x11.cmvr.common.Vec6\x12 \n\x05\x61max6\x18\x06 \x01(\x0b\x32\x11.cmvr.common.Vec6\x12\x1f\n\x12twist_filter_alpha\x18\x07 \x01(\x01H\x04\x88\x01\x01\x12)\n\x1c\x65nable_joint_limit_avoidance\x18\x08 \x01(\x08H\x05\x88\x01\x01\x12\'\n\x1ajoint_limit_avoidance_gain\x18\t \x01(\x01H\x06\x88\x01\x01\x12/\n\"joint_limit_avoidance_margin_ratio\x18\n \x01(\x01H\x07\x88\x01\x01\x12+\n\x1ejoint_limit_avoidance_max_push\x18\x0b \x01(\x01H\x08\x88\x01\x01\x12+\n\x10r_camera_to_visp\x18\x0c \x01(\x0b\x32\x11.cmvr.common.Mat3\x12+\n\x10r_camera_to_urdf\x18\r \x01(\x0b\x32\x11.cmvr.common.Mat3\x12\x1b\n\x13\x63ontrol_joint_names\x18\x0e \x03(\tB\x0e\n\x0c_camera_linkB\t\n\x07_lambdaB\x05\n\x03_muB\x0b\n\t_qdot_maxB\x15\n\x13_twist_filter_alphaB\x1f\n\x1d_enable_joint_limit_avoidanceB\x1d\n\x1b_joint_limit_avoidance_gainB%\n#_joint_limit_avoidance_margin_ratioB!\n\x1f_joint_limit_avoidance_max_pushb\x06proto3') + +_globals = globals() +_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) +_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.config.touch_screen_algorithm_config_pb2', _globals) +if not _descriptor._USE_C_DESCRIPTORS: + DESCRIPTOR._loaded_options = None + _globals['_TOUCHSCREENAPRILTAGCONFIG']._serialized_start=139 + _globals['_TOUCHSCREENAPRILTAGCONFIG']._serialized_end=388 + _globals['_TOUCHSCREENIBVSCONFIG']._serialized_start=391 + _globals['_TOUCHSCREENIBVSCONFIG']._serialized_end=1107 +# @@protoc_insertion_point(module_scope) diff --git a/generated/cmvr/config/touch_screen_app_config/touch_screen_app_config_pb2_grpc.py b/generated/cmvr/config/touch_screen_algorithm_config_pb2_grpc.py similarity index 93% rename from generated/cmvr/config/touch_screen_app_config/touch_screen_app_config_pb2_grpc.py rename to generated/cmvr/config/touch_screen_algorithm_config_pb2_grpc.py index cf0475d..43ccfa9 100644 --- a/generated/cmvr/config/touch_screen_app_config/touch_screen_app_config_pb2_grpc.py +++ b/generated/cmvr/config/touch_screen_algorithm_config_pb2_grpc.py @@ -17,7 +17,7 @@ except ImportError: if _version_not_supported: raise RuntimeError( f'The grpc package installed is at version {GRPC_VERSION},' - + ' but the generated code in cmvr/config/touch_screen_app_config/touch_screen_app_config_pb2_grpc.py depends on' + + ' but the generated code in cmvr/config/touch_screen_algorithm_config_pb2_grpc.py depends on' + f' grpcio>={GRPC_GENERATED_VERSION}.' + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' diff --git a/generated/cmvr/config/touch_screen_app_config/touch_screen_app_config_pb2.py b/generated/cmvr/config/touch_screen_app_config/touch_screen_app_config_pb2.py deleted file mode 100644 index c543ace..0000000 --- a/generated/cmvr/config/touch_screen_app_config/touch_screen_app_config_pb2.py +++ /dev/null @@ -1,52 +0,0 @@ -# -*- coding: utf-8 -*- -# Generated by the protocol buffer compiler. DO NOT EDIT! -# NO CHECKED-IN PROTOBUF GENCODE -# source: cmvr/config/touch_screen_app_config/touch_screen_app_config.proto -# Protobuf Python Version: 6.31.1 -"""Generated protocol buffer code.""" -from google.protobuf import descriptor as _descriptor -from google.protobuf import descriptor_pool as _descriptor_pool -from google.protobuf import runtime_version as _runtime_version -from google.protobuf import symbol_database as _symbol_database -from google.protobuf.internal import builder as _builder -_runtime_version.ValidateProtobufRuntimeVersion( - _runtime_version.Domain.PUBLIC, - 6, - 31, - 1, - '', - 'cmvr/config/touch_screen_app_config/touch_screen_app_config.proto' -) -# @@protoc_insertion_point(imports) - -_sym_db = _symbol_database.Default() - - - - -DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\nAcmvr/config/touch_screen_app_config/touch_screen_app_config.proto\x12\x0b\x63mvr.config\"S\n\x0fTouchScreenVec3\x12\x0e\n\x01x\x18\x01 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\x01(\x01H&\x88\x01\x01\x42\x0b\n\t_robot_idB\r\n\x0b_dexhand_idB\x0c\n\n_camera_idB\x18\n\x16_move_to_init_positionB\x11\n\x0f_init_movej_velB\x11\n\x0f_init_movej_accB%\n#_move_to_init_position_before_startB\x0c\n\n_urdf_pathB\x0c\n\n_base_linkB\x0e\n\x0c_flange_linkB\x0e\n\x0c_camera_linkB\r\n\x0b_tag_size_mB\x0f\n\r_depth_policyB\x16\n\x14_target_point_methodB\x0c\n\n_target_rxB\x0c\n\n_target_ryB\x0c\n\n_target_rzB\x0e\n\x0c_ibvs_lambdaB\n\n\x08_ibvs_muB\x10\n\x0e_ibvs_qdot_maxB\x1f\n\x1d_enable_joint_limit_avoidanceB\x1d\n\x1b_joint_limit_avoidance_gainB%\n#_joint_limit_avoidance_margin_ratioB!\n\x1f_joint_limit_avoidance_max_pushB\x17\n\x15_align_xy_threshold_mB\x16\n\x14_align_z_threshold_mB\x1a\n\x18_align_rot_threshold_radB\x16\n\x14_align_stable_framesB\x12\n\x10_align_timeout_sB\x1c\n\x1a_pause_after_align_reachedB\x15\n\x13_touch_accelerationB\x1b\n\x19_touch_forward_duration_sB\x0f\n\r_dwell_time_sB\x17\n\x15_retract_accelerationB\x15\n\x13_retract_duration_sB\x11\n\x0f_tactile_fingerB\x11\n\x0f_tactile_regionB!\n\x1f_tactile_pressure_sum_thresholdB\"\n _tactile_pressure_peak_threshold*\x89\x01\n\x16TouchScreenDepthPolicy\x12\"\n\x1eTOUCH_SCREEN_DEPTH_POLICY_NONE\x10\x00\x12$\n TOUCH_SCREEN_DEPTH_POLICY_PREFER\x10\x01\x12%\n!TOUCH_SCREEN_DEPTH_POLICY_REQUIRE\x10\x02*\x80\x01\n\x1cTouchScreenTargetPointMethod\x12.\n*TOUCH_SCREEN_TARGET_POINT_METHOD_TAG_PLANE\x10\x00\x12\x30\n,TOUCH_SCREEN_TARGET_POINT_METHOD_DEPTH_IMAGE\x10\x01*\xcb\x01\n\x15TouchScreenFingerType\x12\"\n\x1eTOUCH_SCREEN_FINGER_TYPE_PINKY\x10\x00\x12!\n\x1dTOUCH_SCREEN_FINGER_TYPE_RING\x10\x01\x12#\n\x1fTOUCH_SCREEN_FINGER_TYPE_MIDDLE\x10\x02\x12\"\n\x1eTOUCH_SCREEN_FINGER_TYPE_INDEX\x10\x03\x12\"\n\x1eTOUCH_SCREEN_FINGER_TYPE_THUMB\x10\x04*\xea\x01\n\x18TouchScreenTactileRegion\x12#\n\x1fTOUCH_SCREEN_TACTILE_REGION_TIP\x10\x00\x12&\n\"TOUCH_SCREEN_TACTILE_REGION_FINGER\x10\x01\x12#\n\x1fTOUCH_SCREEN_TACTILE_REGION_PAD\x10\x02\x12.\n*TOUCH_SCREEN_TACTILE_REGION_TIP_AND_FINGER\x10\x03\x12,\n(TOUCH_SCREEN_TACTILE_REGION_THUMB_MIDDLE\x10\x04\x62\x06proto3') - -_globals = globals() -_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) -_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.config.touch_screen_app_config.touch_screen_app_config_pb2', _globals) -if not _descriptor._USE_C_DESCRIPTORS: - DESCRIPTOR._loaded_options = None - _globals['_TOUCHSCREENDEPTHPOLICY']._serialized_start=3436 - _globals['_TOUCHSCREENDEPTHPOLICY']._serialized_end=3573 - _globals['_TOUCHSCREENTARGETPOINTMETHOD']._serialized_start=3576 - _globals['_TOUCHSCREENTARGETPOINTMETHOD']._serialized_end=3704 - _globals['_TOUCHSCREENFINGERTYPE']._serialized_start=3707 - _globals['_TOUCHSCREENFINGERTYPE']._serialized_end=3910 - _globals['_TOUCHSCREENTACTILEREGION']._serialized_start=3913 - _globals['_TOUCHSCREENTACTILEREGION']._serialized_end=4147 - _globals['_TOUCHSCREENVEC3']._serialized_start=82 - _globals['_TOUCHSCREENVEC3']._serialized_end=165 - _globals['_TOUCHSCREENTWIST6']._serialized_start=168 - _globals['_TOUCHSCREENTWIST6']._serialized_end=331 - _globals['_TOUCHSCREENMATRIX3D']._serialized_start=334 - _globals['_TOUCHSCREENMATRIX3D']._serialized_end=589 - _globals['_TOUCHSCREENINITJOINTPOINT']._serialized_start=591 - _globals['_TOUCHSCREENINITJOINTPOINT']._serialized_end=684 - _globals['_TOUCHSCREENAPPCONFIG']._serialized_start=687 - _globals['_TOUCHSCREENAPPCONFIG']._serialized_end=3433 -# @@protoc_insertion_point(module_scope) diff --git a/generated/cmvr/config/touch_screen_common_config_pb2.py b/generated/cmvr/config/touch_screen_common_config_pb2.py new file mode 100644 index 0000000..3960dfc --- /dev/null +++ b/generated/cmvr/config/touch_screen_common_config_pb2.py @@ -0,0 +1,46 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# NO CHECKED-IN PROTOBUF GENCODE +# source: cmvr/config/touch_screen_common_config.proto +# Protobuf Python Version: 6.31.1 +"""Generated protocol buffer code.""" +from google.protobuf import descriptor as _descriptor +from google.protobuf import descriptor_pool as _descriptor_pool +from google.protobuf import runtime_version as _runtime_version +from google.protobuf import symbol_database as _symbol_database +from google.protobuf.internal import builder as _builder +_runtime_version.ValidateProtobufRuntimeVersion( + _runtime_version.Domain.PUBLIC, + 6, + 31, + 1, + '', + 'cmvr/config/touch_screen_common_config.proto' +) +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + + + +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n,cmvr/config/touch_screen_common_config.proto\x12\x0b\x63mvr.config*\x89\x01\n\x16TouchScreenDepthPolicy\x12\"\n\x1eTOUCH_SCREEN_DEPTH_POLICY_NONE\x10\x00\x12$\n TOUCH_SCREEN_DEPTH_POLICY_PREFER\x10\x01\x12%\n!TOUCH_SCREEN_DEPTH_POLICY_REQUIRE\x10\x02*\x80\x01\n\x1cTouchScreenTargetPointMethod\x12.\n*TOUCH_SCREEN_TARGET_POINT_METHOD_TAG_PLANE\x10\x00\x12\x30\n,TOUCH_SCREEN_TARGET_POINT_METHOD_DEPTH_IMAGE\x10\x01*\xcb\x01\n\x15TouchScreenFingerType\x12\"\n\x1eTOUCH_SCREEN_FINGER_TYPE_PINKY\x10\x00\x12!\n\x1dTOUCH_SCREEN_FINGER_TYPE_RING\x10\x01\x12#\n\x1fTOUCH_SCREEN_FINGER_TYPE_MIDDLE\x10\x02\x12\"\n\x1eTOUCH_SCREEN_FINGER_TYPE_INDEX\x10\x03\x12\"\n\x1eTOUCH_SCREEN_FINGER_TYPE_THUMB\x10\x04*\xba\x01\n\x18TouchScreenTactileRegion\x12#\n\x1fTOUCH_SCREEN_TACTILE_REGION_TIP\x10\x00\x12&\n\"TOUCH_SCREEN_TACTILE_REGION_FINGER\x10\x01\x12#\n\x1fTOUCH_SCREEN_TACTILE_REGION_PAD\x10\x02\x12,\n(TOUCH_SCREEN_TACTILE_REGION_THUMB_MIDDLE\x10\x04*r\n\x1bTouchScreenTactileCriterion\x12%\n!TOUCH_SCREEN_TACTILE_CRITERION_FZ\x10\x00\x12,\n(TOUCH_SCREEN_TACTILE_CRITERION_MAGNITUDE\x10\x01*\xa0\x01\n\x14TouchScreenAlignMode\x12-\n)TOUCH_SCREEN_ALIGN_MODE_POSE_AND_POSITION\x10\x00\x12.\n*TOUCH_SCREEN_ALIGN_MODE_RX_RY_AND_POSITION\x10\x01\x12)\n%TOUCH_SCREEN_ALIGN_MODE_POSITION_ONLY\x10\x02\x62\x06proto3') + +_globals = globals() +_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) +_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.config.touch_screen_common_config_pb2', _globals) +if not _descriptor._USE_C_DESCRIPTORS: + DESCRIPTOR._loaded_options = None + _globals['_TOUCHSCREENDEPTHPOLICY']._serialized_start=62 + _globals['_TOUCHSCREENDEPTHPOLICY']._serialized_end=199 + _globals['_TOUCHSCREENTARGETPOINTMETHOD']._serialized_start=202 + _globals['_TOUCHSCREENTARGETPOINTMETHOD']._serialized_end=330 + _globals['_TOUCHSCREENFINGERTYPE']._serialized_start=333 + _globals['_TOUCHSCREENFINGERTYPE']._serialized_end=536 + _globals['_TOUCHSCREENTACTILEREGION']._serialized_start=539 + _globals['_TOUCHSCREENTACTILEREGION']._serialized_end=725 + _globals['_TOUCHSCREENTACTILECRITERION']._serialized_start=727 + _globals['_TOUCHSCREENTACTILECRITERION']._serialized_end=841 + _globals['_TOUCHSCREENALIGNMODE']._serialized_start=844 + _globals['_TOUCHSCREENALIGNMODE']._serialized_end=1004 +# @@protoc_insertion_point(module_scope) diff --git a/generated/cmvr/config/touch_screen_common_config_pb2_grpc.py b/generated/cmvr/config/touch_screen_common_config_pb2_grpc.py new file mode 100644 index 0000000..c02bd4d --- /dev/null +++ b/generated/cmvr/config/touch_screen_common_config_pb2_grpc.py @@ -0,0 +1,24 @@ +# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! +"""Client and server classes corresponding to protobuf-defined services.""" +import grpc +import warnings + + +GRPC_GENERATED_VERSION = '1.76.0' +GRPC_VERSION = grpc.__version__ +_version_not_supported = False + +try: + from grpc._utilities import first_version_is_lower + _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION) +except ImportError: + _version_not_supported = True + +if _version_not_supported: + raise RuntimeError( + f'The grpc package installed is at version {GRPC_VERSION},' + + ' but the generated code in cmvr/config/touch_screen_common_config_pb2_grpc.py depends on' + + f' grpcio>={GRPC_GENERATED_VERSION}.' + + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' + + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' + ) diff --git a/generated/cmvr/config/touch_screen_task_config/__init__.py b/generated/cmvr/config/touch_screen_task_config/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/generated/cmvr/config/touch_screen_task_config/touch_screen_task_config_pb2.py b/generated/cmvr/config/touch_screen_task_config/touch_screen_task_config_pb2.py new file mode 100644 index 0000000..49616bb --- /dev/null +++ b/generated/cmvr/config/touch_screen_task_config/touch_screen_task_config_pb2.py @@ -0,0 +1,63 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# NO CHECKED-IN PROTOBUF GENCODE +# source: cmvr/config/touch_screen_task_config/touch_screen_task_config.proto +# Protobuf Python Version: 6.31.1 +"""Generated protocol buffer code.""" +from google.protobuf import descriptor as _descriptor +from google.protobuf import descriptor_pool as _descriptor_pool +from google.protobuf import runtime_version as _runtime_version +from google.protobuf import symbol_database as _symbol_database +from google.protobuf.internal import builder as _builder +_runtime_version.ValidateProtobufRuntimeVersion( + _runtime_version.Domain.PUBLIC, + 6, + 31, + 1, + '', + 'cmvr/config/touch_screen_task_config/touch_screen_task_config.proto' +) +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + +from cmvr.common import geometry_pb2 as cmvr_dot_common_dot_geometry__pb2 +from cmvr.config import touch_screen_common_config_pb2 as cmvr_dot_config_dot_touch__screen__common__config__pb2 +from cmvr.config import touch_screen_algorithm_config_pb2 as cmvr_dot_config_dot_touch__screen__algorithm__config__pb2 + + +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\nCcmvr/config/touch_screen_task_config/touch_screen_task_config.proto\x12\x0b\x63mvr.config\x1a\x1a\x63mvr/common/geometry.proto\x1a,cmvr/config/touch_screen_common_config.proto\x1a/cmvr/config/touch_screen_algorithm_config.proto\"]\n\x19TouchScreenInitJointPoint\x12\x17\n\njoint_name\x18\x01 \x01(\tH\x00\x88\x01\x01\x12\x10\n\x03rad\x18\x02 \x01(\x01H\x01\x88\x01\x01\x42\r\n\x0b_joint_nameB\x06\n\x04_rad\"\x9c\x01\n\x1cTouchScreenTaskDevicesConfig\x12\x13\n\x06\x61rm_id\x18\x04 \x01(\tH\x00\x88\x01\x01\x12\x17\n\ndexhand_id\x18\x02 \x01(\tH\x01\x88\x01\x01\x12\x16\n\tcamera_id\x18\x03 \x01(\tH\x02\x88\x01\x01\x42\t\n\x07_arm_idB\r\n\x0b_dexhand_idB\x0c\n\n_camera_idJ\x04\x08\x01\x10\x02R\x08robot_id\"\x8e\x02\n#TouchScreenTaskInitializationConfig\x12\x19\n\x0c\x62\x65\x66ore_start\x18\x01 \x01(\x08H\x00\x88\x01\x01\x12\x19\n\x0c\x61\x66ter_finish\x18\x02 \x01(\x08H\x01\x88\x01\x01\x12?\n\x0fjoint_positions\x18\x03 \x03(\x0b\x32&.cmvr.config.TouchScreenInitJointPoint\x12\x15\n\x08velocity\x18\x04 \x01(\x01H\x02\x88\x01\x01\x12\x19\n\x0c\x61\x63\x63\x65leration\x18\x05 \x01(\x01H\x03\x88\x01\x01\x42\x0f\n\r_before_startB\x0f\n\r_after_finishB\x0b\n\t_velocityB\x0f\n\r_acceleration\"[\n\x1fTouchScreenTaskPerceptionConfig\x12\x38\n\x08\x61priltag\x18\x01 \x01(\x0b\x32&.cmvr.config.TouchScreenApriltagConfig\"\xbc\x01\n TouchScreenAlignmentTargetConfig\x12-\n\x12position_in_camera\x18\x01 \x01(\x0b\x32\x11.cmvr.common.Vec3\x12*\n\x0frotation_vector\x18\x02 \x01(\x0b\x32\x11.cmvr.common.Vec3\x12\x34\n\x04mode\x18\x03 \x01(\x0e\x32!.cmvr.config.TouchScreenAlignModeH\x00\x88\x01\x01\x42\x07\n\x05_mode\"\xdb\x02\n\x1eTouchScreenTaskAlignmentConfig\x12\x30\n\x04ibvs\x18\x02 \x01(\x0b\x32\".cmvr.config.TouchScreenIbvsConfig\x12=\n\x06target\x18\x03 \x01(\x0b\x32-.cmvr.config.TouchScreenAlignmentTargetConfig\x12*\n\x0f\x65rror_threshold\x18\x04 \x01(\x0b\x32\x11.cmvr.common.Vec6\x12\x1a\n\rstable_frames\x18\x05 \x01(\x05H\x00\x88\x01\x01\x12\x16\n\ttimeout_s\x18\x06 \x01(\x01H\x01\x88\x01\x01\x12\x1f\n\x12pause_when_reached\x18\x07 \x01(\x08H\x02\x88\x01\x01\x42\x10\n\x0e_stable_framesB\x0c\n\n_timeout_sB\x15\n\x13_pause_when_reachedJ\x04\x08\x01\x10\x02R\nkinematics\"\xa1\x01\n\x1cTouchScreenTouchSpeedLConfig\x12%\n\ntwist_tool\x18\x01 \x01(\x0b\x32\x11.cmvr.common.Vec6\x12\x19\n\x0c\x61\x63\x63\x65leration\x18\x02 \x01(\x01H\x00\x88\x01\x01\x12\x1b\n\x0emax_distance_m\x18\x03 \x01(\x01H\x01\x88\x01\x01\x42\x0f\n\r_accelerationB\x11\n\x0f_max_distance_m\"\xfb\x01\n\x1bTouchScreenTouchMoveLConfig\x12)\n\x0e\x64irection_tool\x18\x01 \x01(\x0b\x32\x11.cmvr.common.Vec6\x12\x17\n\ndistance_m\x18\x02 \x01(\x01H\x00\x88\x01\x01\x12\x15\n\x08velocity\x18\x03 \x01(\x01H\x01\x88\x01\x01\x12\x19\n\x0c\x61\x63\x63\x65leration\x18\x04 \x01(\x01H\x02\x88\x01\x01\x12\x11\n\x04jerk\x18\x05 \x01(\x01H\x03\x88\x01\x01\x12\x1d\n\x15joint_velocity_limits\x18\x06 \x03(\x01\x42\r\n\x0b_distance_mB\x0b\n\t_velocityB\x0f\n\r_accelerationB\x07\n\x05_jerk\"\xae\x02\n\x1fTouchScreenTactileTriggerConfig\x12\x37\n\x06\x66inger\x18\x01 \x01(\x0e\x32\".cmvr.config.TouchScreenFingerTypeH\x00\x88\x01\x01\x12:\n\x06region\x18\x02 \x01(\x0e\x32%.cmvr.config.TouchScreenTactileRegionH\x01\x88\x01\x01\x12@\n\tcriterion\x18\x03 \x01(\x0e\x32(.cmvr.config.TouchScreenTactileCriterionH\x02\x88\x01\x01\x12\x1c\n\x0f\x66orce_threshold\x18\x04 \x01(\x01H\x03\x88\x01\x01\x42\t\n\x07_fingerB\t\n\x07_regionB\x0c\n\n_criterionB\x12\n\x10_force_threshold\"\x8b\x02\n\x1aTouchScreenTaskTouchConfig\x12<\n\x07speed_l\x18\x01 \x01(\x0b\x32).cmvr.config.TouchScreenTouchSpeedLConfigH\x00\x12:\n\x06move_l\x18\x02 \x01(\x0b\x32(.cmvr.config.TouchScreenTouchMoveLConfigH\x00\x12=\n\x07tactile\x18\x03 \x01(\x0b\x32,.cmvr.config.TouchScreenTactileTriggerConfig\x12\x19\n\x0c\x64well_time_s\x18\x04 \x01(\x01H\x01\x88\x01\x01\x42\x08\n\x06motionB\x0f\n\r_dwell_time_s\"\x99\x01\n\x1cTouchScreenTaskRetractConfig\x12%\n\ntwist_tool\x18\x01 \x01(\x0b\x32\x11.cmvr.common.Vec6\x12\x19\n\x0c\x61\x63\x63\x65leration\x18\x02 \x01(\x01H\x00\x88\x01\x01\x12\x17\n\nduration_s\x18\x03 \x01(\x01H\x01\x88\x01\x01\x42\x0f\n\r_accelerationB\r\n\x0b_duration_s\"\xab\x03\n\x15TouchScreenTaskConfig\x12:\n\x07\x64\x65vices\x18\x01 \x01(\x0b\x32).cmvr.config.TouchScreenTaskDevicesConfig\x12H\n\x0einitialization\x18\x02 \x01(\x0b\x32\x30.cmvr.config.TouchScreenTaskInitializationConfig\x12@\n\nperception\x18\x03 \x01(\x0b\x32,.cmvr.config.TouchScreenTaskPerceptionConfig\x12>\n\talignment\x18\x04 \x01(\x0b\x32+.cmvr.config.TouchScreenTaskAlignmentConfig\x12\x36\n\x05touch\x18\x05 \x01(\x0b\x32\'.cmvr.config.TouchScreenTaskTouchConfig\x12:\n\x07retract\x18\x06 \x01(\x0b\x32).cmvr.config.TouchScreenTaskRetractConfig\x12\x0f\n\x02id\x18\x07 \x01(\tH\x00\x88\x01\x01\x42\x05\n\x03_id\"Z\n\x19TouchScreenTaskRootConfig\x12=\n\x11touch_screen_task\x18\x01 \x01(\x0b\x32\".cmvr.config.TouchScreenTaskConfigb\x06proto3') + +_globals = globals() +_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) +_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.config.touch_screen_task_config.touch_screen_task_config_pb2', _globals) +if not _descriptor._USE_C_DESCRIPTORS: + DESCRIPTOR._loaded_options = None + _globals['_TOUCHSCREENINITJOINTPOINT']._serialized_start=207 + _globals['_TOUCHSCREENINITJOINTPOINT']._serialized_end=300 + _globals['_TOUCHSCREENTASKDEVICESCONFIG']._serialized_start=303 + _globals['_TOUCHSCREENTASKDEVICESCONFIG']._serialized_end=459 + _globals['_TOUCHSCREENTASKINITIALIZATIONCONFIG']._serialized_start=462 + _globals['_TOUCHSCREENTASKINITIALIZATIONCONFIG']._serialized_end=732 + _globals['_TOUCHSCREENTASKPERCEPTIONCONFIG']._serialized_start=734 + _globals['_TOUCHSCREENTASKPERCEPTIONCONFIG']._serialized_end=825 + _globals['_TOUCHSCREENALIGNMENTTARGETCONFIG']._serialized_start=828 + _globals['_TOUCHSCREENALIGNMENTTARGETCONFIG']._serialized_end=1016 + _globals['_TOUCHSCREENTASKALIGNMENTCONFIG']._serialized_start=1019 + _globals['_TOUCHSCREENTASKALIGNMENTCONFIG']._serialized_end=1366 + _globals['_TOUCHSCREENTOUCHSPEEDLCONFIG']._serialized_start=1369 + _globals['_TOUCHSCREENTOUCHSPEEDLCONFIG']._serialized_end=1530 + _globals['_TOUCHSCREENTOUCHMOVELCONFIG']._serialized_start=1533 + _globals['_TOUCHSCREENTOUCHMOVELCONFIG']._serialized_end=1784 + _globals['_TOUCHSCREENTACTILETRIGGERCONFIG']._serialized_start=1787 + _globals['_TOUCHSCREENTACTILETRIGGERCONFIG']._serialized_end=2089 + _globals['_TOUCHSCREENTASKTOUCHCONFIG']._serialized_start=2092 + _globals['_TOUCHSCREENTASKTOUCHCONFIG']._serialized_end=2359 + _globals['_TOUCHSCREENTASKRETRACTCONFIG']._serialized_start=2362 + _globals['_TOUCHSCREENTASKRETRACTCONFIG']._serialized_end=2515 + _globals['_TOUCHSCREENTASKCONFIG']._serialized_start=2518 + _globals['_TOUCHSCREENTASKCONFIG']._serialized_end=2945 + _globals['_TOUCHSCREENTASKROOTCONFIG']._serialized_start=2947 + _globals['_TOUCHSCREENTASKROOTCONFIG']._serialized_end=3037 +# @@protoc_insertion_point(module_scope) diff --git a/generated/cmvr/config/touch_screen_task_config/touch_screen_task_config_pb2_grpc.py b/generated/cmvr/config/touch_screen_task_config/touch_screen_task_config_pb2_grpc.py new file mode 100644 index 0000000..c89406a --- /dev/null +++ b/generated/cmvr/config/touch_screen_task_config/touch_screen_task_config_pb2_grpc.py @@ -0,0 +1,24 @@ +# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! +"""Client and server classes corresponding to protobuf-defined services.""" +import grpc +import warnings + + +GRPC_GENERATED_VERSION = '1.76.0' +GRPC_VERSION = grpc.__version__ +_version_not_supported = False + +try: + from grpc._utilities import first_version_is_lower + _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION) +except ImportError: + _version_not_supported = True + +if _version_not_supported: + raise RuntimeError( + f'The grpc package installed is at version {GRPC_VERSION},' + + ' but the generated code in cmvr/config/touch_screen_task_config/touch_screen_task_config_pb2_grpc.py depends on' + + f' grpcio>={GRPC_GENERATED_VERSION}.' + + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' + + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' + ) diff --git a/generated/cmvr/msgs/geometry_pb2.py b/generated/cmvr/msgs/geometry_pb2.py deleted file mode 100644 index 32d9fb2..0000000 --- a/generated/cmvr/msgs/geometry_pb2.py +++ /dev/null @@ -1,48 +0,0 @@ -# -*- coding: utf-8 -*- -# Generated by the protocol buffer compiler. DO NOT EDIT! -# NO CHECKED-IN PROTOBUF GENCODE -# source: cmvr/msgs/geometry.proto -# Protobuf Python Version: 6.31.1 -"""Generated protocol buffer code.""" -from google.protobuf import descriptor as _descriptor -from google.protobuf import descriptor_pool as _descriptor_pool -from google.protobuf import runtime_version as _runtime_version -from google.protobuf import symbol_database as _symbol_database -from google.protobuf.internal import builder as _builder -_runtime_version.ValidateProtobufRuntimeVersion( - _runtime_version.Domain.PUBLIC, - 6, - 31, - 1, - '', - 'cmvr/msgs/geometry.proto' -) -# @@protoc_insertion_point(imports) - -_sym_db = _symbol_database.Default() - - - - -DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x18\x63mvr/msgs/geometry.proto\x12\tcmvr.msgs\"\x1c\n\x04Vec2\x12\t\n\x01x\x18\x01 \x01(\x01\x12\t\n\x01y\x18\x02 \x01(\x01\"\'\n\x04Vec3\x12\t\n\x01x\x18\x01 \x01(\x01\x12\t\n\x01y\x18\x02 \x01(\x01\x12\t\n\x01z\x18\x03 \x01(\x01\"2\n\x04Quat\x12\t\n\x01w\x18\x01 \x01(\x01\x12\t\n\x01x\x18\x02 \x01(\x01\x12\t\n\x01y\x18\x03 \x01(\x01\x12\t\n\x01z\x18\x04 \x01(\x01\"+\n\x08Position\x12\t\n\x01x\x18\x01 \x01(\x01\x12\t\n\x01y\x18\x02 \x01(\x01\x12\t\n\x01z\x18\x03 \x01(\x01\"+\n\x05\x45uler\x12\n\n\x02rx\x18\x01 \x01(\x01\x12\n\n\x02ry\x18\x02 \x01(\x01\x12\n\n\x02rz\x18\x03 \x01(\x01\"u\n\x06Pose3d\x12%\n\x08position\x18\x01 \x01(\x0b\x32\x13.cmvr.msgs.Position\x12#\n\nquaternion\x18\x02 \x01(\x0b\x32\x0f.cmvr.msgs.Quat\x12\x1f\n\x05\x65uler\x18\x03 \x01(\x0b\x32\x10.cmvr.msgs.Euler\"-\n\x06Pose2d\x12\t\n\x01x\x18\x01 \x01(\x01\x12\t\n\x01y\x18\x02 \x01(\x01\x12\r\n\x05theta\x18\x03 \x01(\x01\x62\x06proto3') - -_globals = globals() -_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) -_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.msgs.geometry_pb2', _globals) -if not _descriptor._USE_C_DESCRIPTORS: - DESCRIPTOR._loaded_options = None - _globals['_VEC2']._serialized_start=39 - _globals['_VEC2']._serialized_end=67 - _globals['_VEC3']._serialized_start=69 - _globals['_VEC3']._serialized_end=108 - _globals['_QUAT']._serialized_start=110 - _globals['_QUAT']._serialized_end=160 - _globals['_POSITION']._serialized_start=162 - _globals['_POSITION']._serialized_end=205 - _globals['_EULER']._serialized_start=207 - _globals['_EULER']._serialized_end=250 - _globals['_POSE3D']._serialized_start=252 - _globals['_POSE3D']._serialized_end=369 - _globals['_POSE2D']._serialized_start=371 - _globals['_POSE2D']._serialized_end=416 -# @@protoc_insertion_point(module_scope) diff --git a/protos/cmvr/api/arm_command.proto b/protos/cmvr/api/arm_command.proto new file mode 100644 index 0000000..3c0d7b9 --- /dev/null +++ b/protos/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; + } +} diff --git a/protos/cmvr/api/humanoid_robot_service.proto b/protos/cmvr/api/arm_service.proto similarity index 86% rename from protos/cmvr/api/humanoid_robot_service.proto rename to protos/cmvr/api/arm_service.proto index b046eb9..565b493 100644 --- a/protos/cmvr/api/humanoid_robot_service.proto +++ b/protos/cmvr/api/arm_service.proto @@ -1,22 +1,22 @@ - - syntax = "proto3"; -package cmvr.api; -import "cmvr/api/common.proto"; -import "cmvr/api/humanoid_robot_command.proto"; -service HumanoidRobotService{ +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 servoJ(ServoJ.Request) returns (ServoJ.Response); - rpc getPoseMatrix(GetPoseMatrix.Request) returns (GetPoseMatrix.Response); rpc computeForwardKinematics(ComputeForwardKinematics.Request) returns (ComputeForwardKinematics.Response); } diff --git a/protos/cmvr/api/humanoid_robot_command.proto b/protos/cmvr/api/humanoid_robot_command.proto deleted file mode 100644 index 75804fb..0000000 --- a/protos/cmvr/api/humanoid_robot_command.proto +++ /dev/null @@ -1,202 +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 -} - - -// 4x4 齐次变换矩阵 -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; - repeated JointCmd cmds = 2; - double vel = 3; - double acc = 4; - } - - message Response{ - CommandHeader.Feedback header= 1; - } - -} - -message GetPose{ - message Request{ - CommandHeader.Request header = 1; - string base_link = 2; - string ee_link = 3; - } - - message Response{ - CommandHeader.Feedback header= 1; - Pose3D pose = 2; - } -} - -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; -} - - -message CalibrateZeroQ { - message Request{ - CommandHeader.Request header = 1; - string joint_name = 2; - } - - message Response{ - CommandHeader.Feedback header= 1; - } -} - - -message ServoJ{ - message Request{ - CommandHeader.Request header = 1; - repeated JointCmd cmds = 2; - double vel = 3; - } - - message Response{ - CommandHeader.Feedback header= 1; - } - -} - - - -// 获取当前位姿的4x4矩阵 -message GetPoseMatrix { - message Request { - CommandHeader.Request header = 1; - string base_link = 2; // 基坐标系 - string ee_link = 3; // 末端连杆名称 - } - - message Response { - CommandHeader.Feedback header = 1; - TransformMatrix4x4 matrix = 2; // 4x4 位姿矩阵 - } -} - -// 根据关节角度计算正运动学位姿矩阵 -message ComputeForwardKinematics { - message Request { - CommandHeader.Request header = 1; - string base_link = 2; // 基坐标系 - string ee_link = 3; // 末端连杆名称 - repeated JointCmd joints = 4; // 关节角度 - } - - message Response { - CommandHeader.Feedback header = 1; - TransformMatrix4x4 matrix = 2; // 计算出的4x4位姿矩阵 - } -} \ No newline at end of file diff --git a/protos/cmvr/common/geometry.proto b/protos/cmvr/common/geometry.proto new file mode 100644 index 0000000..729596f --- /dev/null +++ b/protos/cmvr/common/geometry.proto @@ -0,0 +1,79 @@ +syntax = "proto3"; + +package cmvr.common; + +message Vec2 { + optional double x = 1; + optional double y = 2; +} + +message Vec3 { + optional double x = 1; + optional double y = 2; + optional double z = 3; +} + +message Vec6 { + optional double x = 1; + optional double y = 2; + optional double z = 3; + optional double rx = 4; + optional double ry = 5; + optional double rz = 6; +} + +message Quat { + optional double w = 1; + optional double x = 2; + optional double y = 3; + optional double z = 4; +} + +message Euler { + optional double rx = 1; + optional double ry = 2; + optional double rz = 3; +} + +message Pose3d { + Vec3 position = 1; + Quat quaternion = 2; + Euler euler = 3; +} + +message Pose2d { + optional double x = 1; + optional double y = 2; + optional double theta = 3; +} + +message Mat3 { + optional double m00 = 1; + optional double m01 = 2; + optional double m02 = 3; + optional double m10 = 4; + optional double m11 = 5; + optional double m12 = 6; + optional double m20 = 7; + optional double m21 = 8; + optional double m22 = 9; +} + +message Mat4 { + optional double m00 = 1; + optional double m01 = 2; + optional double m02 = 3; + optional double m03 = 4; + optional double m10 = 5; + optional double m11 = 6; + optional double m12 = 7; + optional double m13 = 8; + optional double m20 = 9; + optional double m21 = 10; + optional double m22 = 11; + optional double m23 = 12; + optional double m30 = 13; + optional double m31 = 14; + optional double m32 = 15; + optional double m33 = 16; +} diff --git a/protos/cmvr/config/agv_config/agv_config.proto b/protos/cmvr/config/agv_config/agv_config.proto new file mode 100644 index 0000000..004e215 --- /dev/null +++ b/protos/cmvr/config/agv_config/agv_config.proto @@ -0,0 +1,24 @@ +syntax = "proto3"; +package cmvr.config; + +message MyAgvConfig { + string id = 1; + string ip = 2; + int32 port = 3; +} + +message AGVDeviceConfig { + string id = 1; + + oneof backend { + MyAgvConfig my_agv = 10; + } +} + +message AGVConfig { + repeated AGVDeviceConfig agvs = 1; +} + +message AGVRootConfig { + AGVConfig agv = 1; +} diff --git a/protos/cmvr/config/arm_config/arm_config.proto b/protos/cmvr/config/arm_config/arm_config.proto new file mode 100644 index 0000000..787ebf9 --- /dev/null +++ b/protos/cmvr/config/arm_config/arm_config.proto @@ -0,0 +1,178 @@ +syntax = "proto3"; +package cmvr.config; + +import "cmvr/common/geometry.proto"; +import "cmvr/config/lawba_ik_config.proto"; +import "cmvr/config/pinocchio_dls_ik_config.proto"; +import "cmvr/config/pinocchio_qp_ik_config.proto"; +import "cmvr/config/srs_ik_config.proto"; + +enum ToppraPathType { + TOPPRA_PATH_TYPE_UNKNOWN = 0; + TOPPRA_PATH_TYPE_LINEAR = 1; + TOPPRA_PATH_TYPE_CUBIC_HERMITE = 2; + TOPPRA_PATH_TYPE_QUINTIC = 3; + TOPPRA_PATH_TYPE_NATURAL = 4; +} + +enum JointLimitSource { + JOINT_LIMIT_SOURCE_UNKNOWN = 0; + JOINT_LIMIT_SOURCE_URDF = 1; + JOINT_LIMIT_SOURCE_CUSTOM = 2; +} + +message MotorRobotArmBackendConfig { + string motor_system_id = 2; + int32 dof = 3; + repeated string joint_names = 4; + int32 upd_freq = 5; + int32 buffer_size = 6; + double default_vel = 7; + double default_acc = 8; + repeated string motor_group_ids = 9; +} + +message VendorRobotArmBackendConfig { + string brand = 1; + string ip = 2; + int32 port = 3; + string model = 4; + int32 dof = 5; + repeated string joint_names = 6; + string base_frame = 7; + string tool_frame = 8; +} + +message JointLimitConfig { + string joint_name = 1; + double lower = 2; + double upper = 3; + double velocity = 4; +} + +message JointLimitsConfig { + JointLimitSource source = 1; + repeated JointLimitConfig joints = 2; +} + +message QpJointLimitAvoidanceConfig { + bool enable = 1; + double margin_ratio = 2; + double gain = 3; + double max_push = 4; + double weight = 5; +} + +message CartesianVelocityQpConfig { + JointLimitsConfig joint_limits = 1; + .cmvr.common.Vec6 twist_tracking_weight = 2; + double qdot_regularization = 3; + double prev_qdot_regularization = 4; + double solver_eps = 5; + QpJointLimitAvoidanceConfig joint_limit_avoidance = 6; +} + +message SpeedLPlannerConfig { + double linear_velocity_max = 1; + double linear_acceleration_max = 2; + double linear_jerk_max = 3; + double angular_velocity_max = 4; + double angular_acceleration_max = 5; + double angular_jerk_max = 6; + repeated double joint_acceleration_max = 7; + double linear_target_replan_threshold = 8; + double angular_target_replan_threshold = 9; + double linear_reverse_cos_threshold = 10; + double linear_reverse_switch_speed_threshold = 11; + double normal_direction_deviation_deg = 12; + double mild_direction_deviation_deg = 13; + double severe_direction_deviation_deg = 14; + double linear_min_speed_ratio = 15; + CartesianVelocityQpConfig qp = 16; +} + +message CartesianVelocityControllerConfig { + double control_period_s = 1; + double stop_twist_norm = 2; + double stop_command_velocity_norm = 3; + double stop_measured_velocity_norm = 4; +} + +message ToppraJointMotionPlannerConfig { + ToppraPathType path_type = 1; + double sample_period_s = 2; + int32 grid_size = 3; + int32 high_grid_size = 4; +} + +message MoveJConfig { + oneof algorithm { + ToppraJointMotionPlannerConfig toppra_joint_motion_planner = 1; + } +} + +message MoveLPlannerConfig { + double sample_period_s = 1; + double position_gain = 2; + double rotation_gain = 3; + CartesianVelocityQpConfig qp = 4; +} + +message MoveLConfig { + oneof algorithm { + MoveLPlannerConfig pinocchio_dls_cartesian_motion_planner = 1; + MoveLPlannerConfig pinocchio_qp_cartesian_motion_planner = 2; + } +} + +message SpeedLControllerConfig { + oneof algorithm { + CartesianVelocityControllerConfig cartesian_velocity_controller = 1; + } +} + +message SpeedLConfig { + oneof algorithm { + SpeedLPlannerConfig pinocchio_dls_cartesian_motion_planner = 1; + SpeedLPlannerConfig pinocchio_qp_cartesian_motion_planner = 2; + } + + SpeedLControllerConfig speed_l_controller = 10; +} + +message ArmKinematicsConfig { + oneof algorithm { + PinocchioDlsIKConfig pinocchio_dls_ik_solver = 10; + PinocchioQpIKConfig pinocchio_qp_ik_solver = 11; + SrsIKConfig srs_ik_solver = 12; + LawbaIKConfig lawba_ik_solver = 13; + } +} + +message ArmMotionConfig { + MoveJConfig move_j = 1; + MoveLConfig move_l = 2; + reserved 3; + SpeedLConfig speed_l = 4; +} + +message RobotArmConfig { + string id = 1; + reserved 2; + + oneof backend { + MotorRobotArmBackendConfig motor = 10; + VendorRobotArmBackendConfig vendor = 11; + } + + ArmKinematicsConfig kinematics = 20; + ArmMotionConfig motion = 21; +} + +message ArmConfig { + repeated RobotArmConfig robot_arms = 1; +} + +message ArmRootConfig { + ArmConfig arm = 1; +} diff --git a/protos/cmvr/config/aubo_robot_config/aubo_robot_config.proto b/protos/cmvr/config/aubo_robot_config/aubo_robot_config.proto new file mode 100644 index 0000000..4cc6b0e --- /dev/null +++ b/protos/cmvr/config/aubo_robot_config/aubo_robot_config.proto @@ -0,0 +1,10 @@ +syntax = "proto3"; +package cmvr.config; + +message AuboRobotConfig { + string id = 1; + string ip = 2; + int32 port = 3; + string username = 4; + string password = 5; +} diff --git a/protos/cmvr/config/biohead_config/biohead_config.proto b/protos/cmvr/config/biohead_config/biohead_config.proto new file mode 100644 index 0000000..543a96e --- /dev/null +++ b/protos/cmvr/config/biohead_config/biohead_config.proto @@ -0,0 +1,23 @@ +syntax = "proto3"; +package cmvr.config; + +message BioHeadServoGroupConfig { + string name = 1; + int32 address = 2; + int32 channel_start = 3; + int32 channel_end = 4; + repeated double offset = 5; + repeated double min_angles = 6; + repeated double max_angles = 7; +} + +message BioHeadRobotConfig { + string id = 1; + string serial_port = 2; + int32 baud_rate = 3; + repeated BioHeadServoGroupConfig servo_groups = 4; +} +message BioHeadRobotRootConfig { + BioHeadRobotConfig bio_head = 1; +} + diff --git a/protos/cmvr/config/camera_config/camera_config.proto b/protos/cmvr/config/camera_config/camera_config.proto index 602337f..153a7ec 100644 --- a/protos/cmvr/config/camera_config/camera_config.proto +++ b/protos/cmvr/config/camera_config/camera_config.proto @@ -21,6 +21,8 @@ enum AlignMode { // RealSense摄像头 message RealSenseCameraConfig { + reserved 12; + string id = 1; string serialNumber = 2; int32 width = 3; @@ -32,13 +34,14 @@ message RealSenseCameraConfig { AlignMode align_mode = 9; int32 buffer_size = 10; bool sync = 11; - bool enable = 12; int32 encode_width = 13; int32 encode_height = 14; } // UVC摄像头 message UVCCameraConfig { + reserved 10; + string id = 1; string usb = 2; // 或者叫 device_path int32 width = 3; @@ -48,13 +51,35 @@ message UVCCameraConfig { CameraMode camera_mode = 7; StreamMode stream_mode = 8; int32 buffer_size = 9; - bool enable = 10; int32 encode_width = 11; int32 encode_height = 12; } -// 主配置消息 - 统一管理所有摄像头 -message CameraConfig { - repeated UVCCameraConfig uvc_cameras = 1; - repeated RealSenseCameraConfig realsense_cameras = 2; +// MechMind工业相机 +message MechMindCameraConfig { + reserved 5; + + string id = 1; + string ip = 2; + optional bool align = 3; + string image2d_type = 4; +} + +message CameraDeviceConfig { + string id = 1; + reserved 2; + + oneof backend { + UVCCameraConfig uvc = 10; + RealSenseCameraConfig realsense = 11; + MechMindCameraConfig mechmind = 12; + } +} + +message CameraConfig { + repeated CameraDeviceConfig cameras = 1; +} + +message CameraRootConfig { + CameraConfig camera = 1; } diff --git a/protos/cmvr/config/cmvr_es_config/cmvr_es_config.proto b/protos/cmvr/config/cmvr_es_config/cmvr_es_config.proto new file mode 100644 index 0000000..ea54076 --- /dev/null +++ b/protos/cmvr/config/cmvr_es_config/cmvr_es_config.proto @@ -0,0 +1,14 @@ +syntax = "proto3"; +package cmvr.config; + +message CMVRESConfig { + reserved 3, 5; + + string logger_config_file = 1; + string device_manager_config_file = 2; + string task_manager_config_file = 4; + string grpc_server_config_file = 6; +} +message CMVRESRootConfig { + CMVRESConfig cmvr_es = 1; +} diff --git a/protos/cmvr/config/device_manager_config/device_manager_config.proto b/protos/cmvr/config/device_manager_config/device_manager_config.proto new file mode 100644 index 0000000..21a3674 --- /dev/null +++ b/protos/cmvr/config/device_manager_config/device_manager_config.proto @@ -0,0 +1,38 @@ +syntax = "proto3"; +package cmvr.config; + +message DeviceConfigEntry { + enum DeviceType { + reserved 1, 2, 3, 4, 5, 6, 7, 10, 11; + reserved "DEVICE_TYPE_UVC_CAMERA", "DEVICE_TYPE_REALSENSE_CAMERA", + "DEVICE_TYPE_RH56DFTP_DEXHAND", "DEVICE_TYPE_PX6AX_GEN3", + "DEVICE_TYPE_FFMPEG_MICROPHONE", "DEVICE_TYPE_FFMPEG_SPEAKER", + "DEVICE_TYPE_HUMANOID_ROBOT", "DEVICE_TYPE_MOTOR_ARM", + "DEVICE_TYPE_CARTESIAN_ARM"; + + DEVICE_TYPE_UNKNOWN = 0; + DEVICE_TYPE_BIO_HEAD_ROBOT = 8; + DEVICE_TYPE_MOTOR_SYSTEM = 9; + DEVICE_TYPE_ROBOT_ARM = 12; + DEVICE_TYPE_CAMERA = 13; + DEVICE_TYPE_DEXHAND = 14; + DEVICE_TYPE_MICROPHONE = 15; + DEVICE_TYPE_SPEAKER = 16; + DEVICE_TYPE_AGV = 17; + } + + string id = 1; + DeviceType type = 2; + string config_file = 3; + bool enable = 4; +} + +message DeviceManagerConfig { + string name = 1; + string version = 2; + string description = 3; + repeated DeviceConfigEntry devices = 4; +} +message DeviceManagerRootConfig { + DeviceManagerConfig device_manager = 1; +} diff --git a/protos/cmvr/config/dexhand_config/dexhand_config.proto b/protos/cmvr/config/dexhand_config/dexhand_config.proto index 8502021..b822f3f 100644 --- a/protos/cmvr/config/dexhand_config/dexhand_config.proto +++ b/protos/cmvr/config/dexhand_config/dexhand_config.proto @@ -2,14 +2,58 @@ syntax = "proto3"; package cmvr.config; message RH56DFTPDexHandConfig{ + reserved 4; + string id = 1; string ip = 2; int32 port = 3; - bool enable = 4; + int32 poll_interval_ms = 5; +} + +enum PX6AXGen3PollingReadMode { + PX_6AX_GEN3_POLLING_READ_MODE_DISTRIBUTED_AND_RESULTANT_FORCE = 0; + PX_6AX_GEN3_POLLING_READ_MODE_DISTRIBUTED_FORCE = 1; + PX_6AX_GEN3_POLLING_READ_MODE_RESULTANT_FORCE = 2; +} + +message PX6AXGen3{ + reserved 10; + + string id = 1; + string serial_port = 2; + string sensor_model = 3; + int32 module_id = 4; + int32 baud_rate = 5; + int32 distributed_length = 6; + int32 resultant_length = 7; + int32 poll_interval_ms = 8; + bool auto_calibrate = 9; + int32 response_timeout_ms = 11; + int32 tactile_rows = 12; + int32 tactile_cols = 13; + int32 response_header_bytes = 14; + string tactile_finger = 15; + string tactile_region = 16; + string sensor_name = 17; + PX6AXGen3PollingReadMode polling_read_mode = 18; } +message DexHandDeviceConfig { + string id = 1; + reserved 2; + + oneof backend { + RH56DFTPDexHandConfig rh56dftp = 10; + PX6AXGen3 px_6ax_gen3 = 11; + } +} + message DexHandConfig{ - repeated RH56DFTPDexHandConfig rh56dftp_dexhands = 1; -} \ No newline at end of file + repeated DexHandDeviceConfig dexhands = 1; +} + +message DexHandRootConfig { + DexHandConfig dexhand = 1; +} diff --git a/protos/cmvr/config/grpc_server_config/grpc_server_config.proto b/protos/cmvr/config/grpc_server_config/grpc_server_config.proto new file mode 100644 index 0000000..11ad801 --- /dev/null +++ b/protos/cmvr/config/grpc_server_config/grpc_server_config.proto @@ -0,0 +1,12 @@ +syntax = "proto3"; +package cmvr.config; + +message GRPCServerConfig { + string host = 1; + string port = 2; + bool enable_reflection = 3; + string id = 4; +} +message GRPCServerRootConfig { + GRPCServerConfig grpc_server = 1; +} diff --git a/protos/cmvr/config/lawba_ik_config.proto b/protos/cmvr/config/lawba_ik_config.proto new file mode 100644 index 0000000..8cee950 --- /dev/null +++ b/protos/cmvr/config/lawba_ik_config.proto @@ -0,0 +1,15 @@ +syntax = "proto3"; + +package cmvr.config; + +import "cmvr/config/srs_ik_config.proto"; + +message LawbaIKConfig { + SrsIKConfig srs_config = 1; + double lambda_q = 2; + double cur_branch_cost_threshold = 3; + double opt_psi_update_alpha = 4; + double opt_psi_max_delta = 5; + double opt_psi_min = 6; + double opt_psi_eps = 7; +} diff --git a/protos/cmvr/config/logger_config/logger_config.proto b/protos/cmvr/config/logger_config/logger_config.proto new file mode 100644 index 0000000..1e6814f --- /dev/null +++ b/protos/cmvr/config/logger_config/logger_config.proto @@ -0,0 +1,37 @@ +syntax = "proto3"; +package cmvr.config; + +enum LogLevel { + LOG_LEVEL_UNSPECIFIED = 0; + LOG_LEVEL_DEBUG = 1; + LOG_LEVEL_INFO = 2; + LOG_LEVEL_WARNING = 3; + LOG_LEVEL_ERROR = 4; + LOG_LEVEL_FATAL = 5; +} + +message LogRoute { + LogLevel level = 1; + bool terminal = 2; + bool file = 3; +} + +message LogFormat { + optional bool show_time = 1; + optional bool show_level = 2; + optional bool show_thread_id = 3; + optional bool show_source_location = 4; +} + +message LoggerConfig { + LogLevel minimum_level = 1; + repeated LogRoute routes = 2; + string directory = 3; + int32 max_file_size_mb = 4; + int32 flush_interval_seconds = 5; + LogFormat format = 6; +} + +message LoggerRootConfig { + LoggerConfig logger = 1; +} diff --git a/protos/cmvr/config/microphone_config/microphone_config.proto b/protos/cmvr/config/microphone_config/microphone_config.proto index be4451f..741d44d 100644 --- a/protos/cmvr/config/microphone_config/microphone_config.proto +++ b/protos/cmvr/config/microphone_config/microphone_config.proto @@ -2,14 +2,28 @@ syntax = "proto3"; package cmvr.config; message FFMpegMicroPhoneConfig{ + reserved 5; + string id = 1; int32 channels = 2; int32 sampleRate = 3; int32 volume = 4; - bool enable = 5; string input_device = 6; } +message MicrophoneDeviceConfig { + string id = 1; + reserved 2; + + oneof backend { + FFMpegMicroPhoneConfig ffmpeg = 10; + } +} + message MicroPhoneConfig{ - repeated FFMpegMicroPhoneConfig ffmpeg_microphones = 1; -} \ No newline at end of file + repeated MicrophoneDeviceConfig microphones = 1; +} + +message MicroPhoneRootConfig { + MicroPhoneConfig microphone = 1; +} diff --git a/protos/cmvr/config/motor_config/motor_config.proto b/protos/cmvr/config/motor_config/motor_config.proto new file mode 100644 index 0000000..f580dc5 --- /dev/null +++ b/protos/cmvr/config/motor_config/motor_config.proto @@ -0,0 +1,48 @@ +syntax = "proto3"; +package cmvr.config; + +message Ti5MotorConfig { + int32 id = 1; + string joint_name = 2; + double limit_q_lb = 3; + double limit_q_ub = 4; + double limit_qd = 5; +} + +message SocketCanConfig { + string dev_id = 1; + int32 channel_id = 2; +} + +message EtherCATConfig { + string master_id = 1; + int32 cycle_us = 2; +} + +enum MotorBusType { + MOTOR_BUS_UNKNOWN = 0; + MOTOR_BUS_CAN = 1; + MOTOR_BUS_ETHERCAT = 2; + MOTOR_BUS_MUJOCO = 3; +} + +message MotorGroupConfig { + string id = 1; + MotorBusType bus_type = 2; + string tool_frame = 3; + + oneof bus_config { + SocketCanConfig can = 10; + EtherCATConfig ethercat = 11; + } + + repeated Ti5MotorConfig motors = 20; +} + +message MotorConfig { + string id = 1; + repeated MotorGroupConfig motor_groups = 2; +} +message MotorRootConfig { + MotorConfig motor = 1; +} diff --git a/protos/cmvr/config/pinocchio_dls_ik_config.proto b/protos/cmvr/config/pinocchio_dls_ik_config.proto index e69de29..0baa855 100644 --- a/protos/cmvr/config/pinocchio_dls_ik_config.proto +++ b/protos/cmvr/config/pinocchio_dls_ik_config.proto @@ -0,0 +1,23 @@ +syntax = "proto3"; + +package cmvr.config; + +message PinocchioDlsIKConfig { + string urdf_path = 1; + string base_frame_name = 2; + string flange_frame_name = 3; + string tcp_frame_name = 4; + + int32 max_iters = 5; + double pos_eps = 6; + double rot_eps = 7; + double damping = 8; + JointLimitAvoidanceConfig joint_limit_avoidance = 9; +} + +message JointLimitAvoidanceConfig { + bool enable = 1; + double gain = 2; + double margin_ratio = 3; + double max_push = 4; +} diff --git a/protos/cmvr/config/pinocchio_qp_ik_solver_config.proto b/protos/cmvr/config/pinocchio_qp_ik_config.proto similarity index 100% rename from protos/cmvr/config/pinocchio_qp_ik_solver_config.proto rename to protos/cmvr/config/pinocchio_qp_ik_config.proto diff --git a/protos/cmvr/config/speaker_config/speaker_config.proto b/protos/cmvr/config/speaker_config/speaker_config.proto new file mode 100644 index 0000000..d1505b7 --- /dev/null +++ b/protos/cmvr/config/speaker_config/speaker_config.proto @@ -0,0 +1,25 @@ +syntax = "proto3"; +package cmvr.config; + +message FFMpegSpeakerConfig{ + reserved 2; + + string id = 1; +} + +message SpeakerDeviceConfig { + string id = 1; + reserved 2; + + oneof backend { + FFMpegSpeakerConfig ffmpeg = 10; + } +} + +message SpeakerConfig{ + repeated SpeakerDeviceConfig speakers = 1; +} + +message SpeakerRootConfig { + SpeakerConfig speaker = 1; +} diff --git a/protos/cmvr/config/speaker_config/speaker_conifg.proto b/protos/cmvr/config/speaker_config/speaker_conifg.proto deleted file mode 100644 index 7402b46..0000000 --- a/protos/cmvr/config/speaker_config/speaker_conifg.proto +++ /dev/null @@ -1,11 +0,0 @@ -syntax = "proto3"; -package cmvr.config; - -message FFMpegSpeakerConfig{ - string id = 1; - bool enable = 2; -} - -message SpeakerConfig{ - repeated FFMpegSpeakerConfig ffmpeg_speakers = 1; -} \ No newline at end of file diff --git a/protos/cmvr/config/srs_ik_config.proto b/protos/cmvr/config/srs_ik_config.proto new file mode 100644 index 0000000..f21f64e --- /dev/null +++ b/protos/cmvr/config/srs_ik_config.proto @@ -0,0 +1,13 @@ +syntax = "proto3"; + +package cmvr.config; + +message SrsIKConfig { + double initial_psi = 1; + int32 shoulder_config = 2; + int32 elbow_config = 3; + int32 wrist_config = 4; + repeated double link_lengths = 10; + repeated double joint_lower_limits = 11; + repeated double joint_upper_limits = 12; +} diff --git a/protos/cmvr/config/task_manager_config/task_manager_config.proto b/protos/cmvr/config/task_manager_config/task_manager_config.proto new file mode 100644 index 0000000..6c13c84 --- /dev/null +++ b/protos/cmvr/config/task_manager_config/task_manager_config.proto @@ -0,0 +1,32 @@ +syntax = "proto3"; +package cmvr.config; + +message TaskConfigEntry { + enum TaskType { + TASK_TYPE_UNKNOWN = 0; + TASK_TYPE_TOUCH_SCREEN = 1; + TASK_TYPE_GRPC_SERVER = 3; + reserved 2; + reserved "TASK_TYPE_ARM_CONTROL"; + } + + enum TaskRunMode { + TASK_RUN_MODE_UNKNOWN = 0; + TASK_RUN_MODE_PERIODIC_STEP = 1; + TASK_RUN_MODE_BLOCKING_SERVICE = 2; + } + + string id = 1; + TaskType type = 2; + string config_file = 3; + bool enable = 4; + TaskRunMode run_mode = 5; + double control_period_s = 6; +} + +message TaskManagerConfig { + repeated TaskConfigEntry tasks = 1; +} +message TaskManagerRootConfig { + TaskManagerConfig task_manager = 1; +} diff --git a/protos/cmvr/config/touch_screen_algorithm_config.proto b/protos/cmvr/config/touch_screen_algorithm_config.proto new file mode 100644 index 0000000..9a15bc0 --- /dev/null +++ b/protos/cmvr/config/touch_screen_algorithm_config.proto @@ -0,0 +1,32 @@ +syntax = "proto3"; + +package cmvr.config; + +import "cmvr/common/geometry.proto"; +import "cmvr/config/touch_screen_common_config.proto"; + +message TouchScreenApriltagConfig { + optional double tag_size_m = 1; + optional TouchScreenDepthPolicy depth_policy = 2; + optional TouchScreenTargetPointMethod target_point_method = 3; +} + +message TouchScreenIbvsConfig { + optional string camera_link = 1; + optional double lambda = 2; + optional double mu = 3; + optional double qdot_max = 4; + .cmvr.common.Vec6 vmax6 = 5; + .cmvr.common.Vec6 amax6 = 6; + optional double twist_filter_alpha = 7; + + optional bool enable_joint_limit_avoidance = 8; + optional double joint_limit_avoidance_gain = 9; + optional double joint_limit_avoidance_margin_ratio = 10; + optional double joint_limit_avoidance_max_push = 11; + + .cmvr.common.Mat3 r_camera_to_visp = 12; + .cmvr.common.Mat3 r_camera_to_urdf = 13; + + repeated string control_joint_names = 14; +} diff --git a/protos/cmvr/config/touch_screen_app_config/touch_screen_app_config.proto b/protos/cmvr/config/touch_screen_app_config/touch_screen_app_config.proto deleted file mode 100644 index 8b8bf17..0000000 --- a/protos/cmvr/config/touch_screen_app_config/touch_screen_app_config.proto +++ /dev/null @@ -1,122 +0,0 @@ -syntax = "proto3"; - -package cmvr.config; - -message TouchScreenVec3 { - optional double x = 1; - optional double y = 2; - optional double z = 3; -} - -message TouchScreenTwist6 { - optional double vx = 1; - optional double vy = 2; - optional double vz = 3; - optional double wx = 4; - optional double wy = 5; - optional double wz = 6; -} - -message TouchScreenMatrix3d { - optional double m00 = 1; - optional double m01 = 2; - optional double m02 = 3; - optional double m10 = 4; - optional double m11 = 5; - optional double m12 = 6; - optional double m20 = 7; - optional double m21 = 8; - optional double m22 = 9; -} - -message TouchScreenInitJointPoint { - optional string joint_name = 1; - optional double rad = 2; -} - -enum TouchScreenDepthPolicy { - TOUCH_SCREEN_DEPTH_POLICY_NONE = 0; - TOUCH_SCREEN_DEPTH_POLICY_PREFER = 1; - TOUCH_SCREEN_DEPTH_POLICY_REQUIRE = 2; -} - -enum TouchScreenTargetPointMethod { - TOUCH_SCREEN_TARGET_POINT_METHOD_TAG_PLANE = 0; - TOUCH_SCREEN_TARGET_POINT_METHOD_DEPTH_IMAGE = 1; -} - -enum TouchScreenFingerType { - TOUCH_SCREEN_FINGER_TYPE_PINKY = 0; - TOUCH_SCREEN_FINGER_TYPE_RING = 1; - TOUCH_SCREEN_FINGER_TYPE_MIDDLE = 2; - TOUCH_SCREEN_FINGER_TYPE_INDEX = 3; - TOUCH_SCREEN_FINGER_TYPE_THUMB = 4; -} - -enum TouchScreenTactileRegion { - TOUCH_SCREEN_TACTILE_REGION_TIP = 0; - TOUCH_SCREEN_TACTILE_REGION_FINGER = 1; - TOUCH_SCREEN_TACTILE_REGION_PAD = 2; - TOUCH_SCREEN_TACTILE_REGION_TIP_AND_FINGER = 3; - TOUCH_SCREEN_TACTILE_REGION_THUMB_MIDDLE = 4; -} - -message TouchScreenAppConfig { - optional string robot_id = 40; - optional string dexhand_id = 41; - optional string camera_id = 42; - optional bool move_to_init_position = 43; - repeated TouchScreenInitJointPoint init_joint_positions = 44; - optional double init_movej_vel = 45; - optional double init_movej_acc = 46; - optional bool move_to_init_position_before_start = 47; - - optional string urdf_path = 1; - optional string base_link = 2; - optional string flange_link = 3; - optional string camera_link = 4; - - optional double tag_size_m = 5; - optional TouchScreenDepthPolicy depth_policy = 6; - optional TouchScreenTargetPointMethod target_point_method = 7; - - TouchScreenVec3 hover_target_in_camera = 8; - optional double target_rx = 9; - optional double target_ry = 10; - optional double target_rz = 11; - - optional double ibvs_lambda = 12; - optional double ibvs_mu = 13; - optional double ibvs_qdot_max = 14; - TouchScreenTwist6 ibvs_vmax6 = 15; - optional bool enable_joint_limit_avoidance = 16; - optional double joint_limit_avoidance_gain = 17; - optional double joint_limit_avoidance_margin_ratio = 18; - optional double joint_limit_avoidance_max_push = 19; - - TouchScreenMatrix3d r_camera_to_visp = 20; - TouchScreenMatrix3d r_camera_to_urdf = 21; - - repeated string control_joint_names = 22; - - optional double align_xy_threshold_m = 23; - optional double align_z_threshold_m = 24; - optional double align_rot_threshold_rad = 25; - optional int32 align_stable_frames = 26; - optional double align_timeout_s = 27; - optional bool pause_after_align_reached = 28; - - TouchScreenTwist6 touch_twist_base = 29; - optional double touch_acceleration = 30; - optional double touch_forward_duration_s = 31; - - optional double dwell_time_s = 32; - TouchScreenTwist6 retract_twist_base = 33; - optional double retract_acceleration = 34; - optional double retract_duration_s = 35; - - optional TouchScreenFingerType tactile_finger = 36; - optional TouchScreenTactileRegion tactile_region = 37; - optional double tactile_pressure_sum_threshold = 38; - optional double tactile_pressure_peak_threshold = 39; -} diff --git a/protos/cmvr/config/touch_screen_common_config.proto b/protos/cmvr/config/touch_screen_common_config.proto new file mode 100644 index 0000000..b6dc8b2 --- /dev/null +++ b/protos/cmvr/config/touch_screen_common_config.proto @@ -0,0 +1,40 @@ +syntax = "proto3"; + +package cmvr.config; + +enum TouchScreenDepthPolicy { + TOUCH_SCREEN_DEPTH_POLICY_NONE = 0; + TOUCH_SCREEN_DEPTH_POLICY_PREFER = 1; + TOUCH_SCREEN_DEPTH_POLICY_REQUIRE = 2; +} + +enum TouchScreenTargetPointMethod { + TOUCH_SCREEN_TARGET_POINT_METHOD_TAG_PLANE = 0; + TOUCH_SCREEN_TARGET_POINT_METHOD_DEPTH_IMAGE = 1; +} + +enum TouchScreenFingerType { + TOUCH_SCREEN_FINGER_TYPE_PINKY = 0; + TOUCH_SCREEN_FINGER_TYPE_RING = 1; + TOUCH_SCREEN_FINGER_TYPE_MIDDLE = 2; + TOUCH_SCREEN_FINGER_TYPE_INDEX = 3; + TOUCH_SCREEN_FINGER_TYPE_THUMB = 4; +} + +enum TouchScreenTactileRegion { + TOUCH_SCREEN_TACTILE_REGION_TIP = 0; + TOUCH_SCREEN_TACTILE_REGION_FINGER = 1; + TOUCH_SCREEN_TACTILE_REGION_PAD = 2; + TOUCH_SCREEN_TACTILE_REGION_THUMB_MIDDLE = 4; +} + +enum TouchScreenTactileCriterion { + TOUCH_SCREEN_TACTILE_CRITERION_FZ = 0; + TOUCH_SCREEN_TACTILE_CRITERION_MAGNITUDE = 1; +} + +enum TouchScreenAlignMode { + TOUCH_SCREEN_ALIGN_MODE_POSE_AND_POSITION = 0; + TOUCH_SCREEN_ALIGN_MODE_RX_RY_AND_POSITION = 1; + TOUCH_SCREEN_ALIGN_MODE_POSITION_ONLY = 2; +} diff --git a/protos/cmvr/config/touch_screen_task_config/touch_screen_task_config.proto b/protos/cmvr/config/touch_screen_task_config/touch_screen_task_config.proto new file mode 100644 index 0000000..c48681a --- /dev/null +++ b/protos/cmvr/config/touch_screen_task_config/touch_screen_task_config.proto @@ -0,0 +1,102 @@ +syntax = "proto3"; + +package cmvr.config; + +import "cmvr/common/geometry.proto"; +import "cmvr/config/touch_screen_common_config.proto"; +import "cmvr/config/touch_screen_algorithm_config.proto"; + +message TouchScreenInitJointPoint { + optional string joint_name = 1; + optional double rad = 2; +} + +message TouchScreenTaskDevicesConfig { + reserved 1; + reserved "robot_id"; + + optional string arm_id = 4; + optional string dexhand_id = 2; + optional string camera_id = 3; +} + +message TouchScreenTaskInitializationConfig { + optional bool before_start = 1; + optional bool after_finish = 2; + repeated TouchScreenInitJointPoint joint_positions = 3; + optional double velocity = 4; + optional double acceleration = 5; +} + +message TouchScreenTaskPerceptionConfig { + TouchScreenApriltagConfig apriltag = 1; +} + +message TouchScreenAlignmentTargetConfig { + .cmvr.common.Vec3 position_in_camera = 1; + .cmvr.common.Vec3 rotation_vector = 2; + optional TouchScreenAlignMode mode = 3; +} + +message TouchScreenTaskAlignmentConfig { + reserved 1; + reserved "kinematics"; + TouchScreenIbvsConfig ibvs = 2; + TouchScreenAlignmentTargetConfig target = 3; + .cmvr.common.Vec6 error_threshold = 4; + optional int32 stable_frames = 5; + optional double timeout_s = 6; + optional bool pause_when_reached = 7; +} + +message TouchScreenTouchSpeedLConfig { + .cmvr.common.Vec6 twist_tool = 1; + optional double acceleration = 2; + optional double max_distance_m = 3; +} + +message TouchScreenTouchMoveLConfig { + .cmvr.common.Vec6 direction_tool = 1; + optional double distance_m = 2; + optional double velocity = 3; + optional double acceleration = 4; + optional double jerk = 5; + repeated double joint_velocity_limits = 6; +} + +message TouchScreenTactileTriggerConfig { + optional TouchScreenFingerType finger = 1; + optional TouchScreenTactileRegion region = 2; + optional TouchScreenTactileCriterion criterion = 3; + optional double force_threshold = 4; +} + +message TouchScreenTaskTouchConfig { + oneof motion { + TouchScreenTouchSpeedLConfig speed_l = 1; + TouchScreenTouchMoveLConfig move_l = 2; + } + + TouchScreenTactileTriggerConfig tactile = 3; + optional double dwell_time_s = 4; +} + +message TouchScreenTaskRetractConfig { + .cmvr.common.Vec6 twist_tool = 1; + optional double acceleration = 2; + optional double duration_s = 3; +} + +message TouchScreenTaskConfig { + TouchScreenTaskDevicesConfig devices = 1; + TouchScreenTaskInitializationConfig initialization = 2; + TouchScreenTaskPerceptionConfig perception = 3; + TouchScreenTaskAlignmentConfig alignment = 4; + TouchScreenTaskTouchConfig touch = 5; + TouchScreenTaskRetractConfig retract = 6; + optional string id = 7; +} + +message TouchScreenTaskRootConfig { + TouchScreenTaskConfig touch_screen_task = 1; +} diff --git a/protos/cmvr/msgs/geometry.proto b/protos/cmvr/msgs/geometry.proto deleted file mode 100644 index dca7663..0000000 --- a/protos/cmvr/msgs/geometry.proto +++ /dev/null @@ -1,51 +0,0 @@ -syntax = "proto3"; - -package cmvr.msgs; - - -message Vec2 { - double x = 1; - double y = 2; -} - -message Vec3 { - double x = 1; - double y = 2; - double z = 3; -} - -// ===== 四元数 ===== -message Quat { - double w = 1; - double x = 2; - double y = 3; - double z = 4; -} - -// ===== 位置（3D）===== -message Position { - double x = 1; // unit: m - double y = 2; - double z = 3; -} - -// ===== 欧拉角 ===== -message Euler { - double rx = 1; // unit: rad 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4ba59c3..9a0f8d0 100644 --- a/ui/app.py +++ b/ui/app.py @@ -19,8 +19,8 @@ from ui.camera_page import CameraPage from ui.plot_page import PlotPage from ui.rgb_image_page import RGBImagePage -from cmvr.api import humanoid_robot_command_pb2 as pb -from cmvr.api import humanoid_robot_service_pb2_grpc as rpc +from cmvr.api import arm_command_pb2 as pb +from cmvr.api import arm_service_pb2_grpc as rpc DEFAULT_JOINT_ORDER = [ "L_SHOULDER_P", "L_SHOULDER_R", "L_SHOULDER_Y", @@ -61,7 +61,7 @@ class JointStateWorker(QtCore.QThread): def run(self) -> None: try: self._channel = grpc.insecure_channel(self.address) - stub = rpc.HumanoidRobotServiceStub(self._channel) + stub = rpc.ArmServiceStub(self._channel) except Exception as exc: self.log.emit(f"[error] connect failed: {exc}") return @@ -81,10 +81,10 @@ class JointStateWorker(QtCore.QThread): joint_pos: Dict[str, float] = {} joint_vel: Dict[str, float] = {} - for state in resp.state: - for name, pos, vel in zip(state.name, state.position, state.velocity): - joint_pos[name] = pos - joint_vel[name] = vel + state = resp.state + for name, pos, vel in zip(state.name, state.position, state.velocity): + joint_pos[name] = pos + joint_vel[name] = vel payload: Dict[str, Tuple[float, float]] = {} for name in self.joint_names: @@ -125,7 +125,7 @@ class PoseWorker(QtCore.QThread): def run(self) -> None: try: self._channel = grpc.insecure_channel(self.address) - stub = rpc.HumanoidRobotServiceStub(self._channel) + stub = rpc.ArmServiceStub(self._channel) except Exception as exc: self.log.emit(f"[error] connect failed: {exc}") return @@ -354,7 +354,7 @@ class MainWindow(QtWidgets.QMainWindow): self.port_edit = QtWidgets.QSpinBox() self.port_edit.setRange(1, 65535) self.port_edit.setValue(50052) - self.device_edit = QtWidgets.QLineEdit("hc01") + self.device_edit = QtWidgets.QLineEdit("right_arm") self.interval_edit = QtWidgets.QDoubleSpinBox() self.interval_edit.setDecimals(3) self.interval_edit.setRange(0.001, 10.0) diff --git a/ui/run_action.py b/ui/run_action.py index ce738d5..ed7a80e 100644 --- a/ui/run_action.py +++ b/ui/run_action.py @@ -15,7 +15,7 @@ def parse_args() -> argparse.Namespace: ) parser.add_argument("--host", default="192.168.0.222", help="gRPC server host") parser.add_argument("--port", type=int, default=50052, help="gRPC server port") - parser.add_argument("--device-id", default="hc01", help="Device ID") + parser.add_argument("--device-id", default="right_arm", help="Device ID") parser.add_argument("--interval", type=float, default=0.05, help="Interval seconds") parser.add_argument("--base-link", default="PELVIS_S", help="Base link for pose") parser.add_argument("--ee-link", default="R_FINGER_TIP", help="End-effector link for pose")