feat:Sync client with server-side gRPC updates

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`. Use `left_arm` when controlling the left arm.
 - UI parameters (host/port/device_id/interval) are set in the PyQt window and passed to the runner.
-
-

clients/base_client.py

@@ -7,7 +7,7 @@ from clients._path_setup import ensure_paths
 ensure_paths()
 
 from cmvr.api import dexhand_service_pb2_grpc
-from cmvr.api import humanoid_robot_service_pb2_grpc
+from cmvr.api import arm_service_pb2_grpc
 
 
 class RobotClientBase:
@@ -22,7 +22,7 @@ class RobotClientBase:
         self._connect_with_retry()
 
     def _init_stubs(self, channel):
-        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):

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 arm_command_pb2 as pb
-from cmvr.api import humanoid_robot_service_pb2_grpc as rpc
+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',
+    parser.add_argument('--device_id', type=str, default='right_arm',
-                        help='Device ID (default: hc01)')
+                        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()
+    client.close()

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 arm_command_pb2 as pb
-from cmvr.api import humanoid_robot_service_pb2_grpc as rpc
+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:
+                state = resp.state
-                    # 这里就用你说的三元 zip
+                for name, pos, vel in zip(state.name, state.position, state.velocity):
-                    for name, pos, vel in zip(state.name, state.position, state.velocity):
+                    joint_pos_dict[name] = round(pos, 12)
-                        joint_pos_dict[name] = round(pos, 12)
+                    joint_vel_dict[name] = round(vel, 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

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 arm_command_pb2 as pb
-from cmvr.api import humanoid_robot_service_pb2_grpc as rpc
+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:

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 arm_command_pb2 as pb
-from cmvr.api import humanoid_robot_service_pb2_grpc as rpc
+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
+        target = pb.JointPositionCommand(position=[j["rad"] for j in joint_list])
-        cmds = [pb.JointCmd(joint_name=j["joint_name"], rad=j["rad"], vel=vel) 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,
+            target=target,
-            acc=acc,
+            options=pb.MotionOptions(velocity=vel, acceleration=acc),
-            cmds=cmds
         )
 
         # Call RPC

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 arm_command_pb2 as pb
-from cmvr.api import humanoid_robot_service_pb2_grpc as rpc
+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:
+            state = resp.state
-                for name, pos in zip(state.name, state.position):
+            for name, pos in zip(state.name, state.position):
-                    joint_dict[name] = round(pos, 6)
+                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)}

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 arm_command_pb2 as pb
-from cmvr.api import humanoid_robot_service_pb2_grpc as rpc
+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,
+            target=target,
-            cmds=cmds
         )
 
         try:
@@ -255,4 +254,4 @@ if __name__ == "__main__":
     finally:
         plotter.stop()
         client.close()
-        print("Client closed")
+        print("Client closed")

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 arm_command_pb2 as pb
-from cmvr.api import humanoid_robot_service_pb2_grpc as rpc
+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()

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 arm_command_pb2 as pb
-from cmvr.api import humanoid_robot_service_pb2_grpc as rpc
+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()

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 arm_command_pb2 as pb
-from cmvr.api import humanoid_robot_service_pb2_grpc as rpc
+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
-    client.send(device_id="hc01")
+    client.send(device_id="right_arm")
 
     # 关闭客户端
     client.close()

generated/cmvr/api/arm_command_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/api/humanoid_robot_command_pb2_grpc.py depends on'
+        + ' but the generated code in cmvr/api/arm_command_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}.'

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)

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',
+                '/cmvr.api.ArmService/moveJ',
-                request_serializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.MoveJ.Request.SerializeToString,
+                request_serializer=cmvr_dot_api_dot_arm__command__pb2.MoveJ.Request.SerializeToString,
-                response_deserializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.MoveJ.Response.FromString,
+                response_deserializer=cmvr_dot_api_dot_arm__command__pb2.MoveJ.Response.FromString,
                 _registered_method=True)
         self.moveL = channel.unary_unary(
-                '/cmvr.api.HumanoidRobotService/moveL',
+                '/cmvr.api.ArmService/moveL',
-                request_serializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.MoveL.Request.SerializeToString,
+                request_serializer=cmvr_dot_api_dot_arm__command__pb2.MoveL.Request.SerializeToString,
-                response_deserializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.MoveL.Response.FromString,
+                response_deserializer=cmvr_dot_api_dot_arm__command__pb2.MoveL.Response.FromString,
                 _registered_method=True)
         self.speedJ = channel.unary_unary(
-                '/cmvr.api.HumanoidRobotService/speedJ',
+                '/cmvr.api.ArmService/speedJ',
-                request_serializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.SpeedJ.Request.SerializeToString,
+                request_serializer=cmvr_dot_api_dot_arm__command__pb2.SpeedJ.Request.SerializeToString,
-                response_deserializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.SpeedJ.Response.FromString,
+                response_deserializer=cmvr_dot_api_dot_arm__command__pb2.SpeedJ.Response.FromString,
                 _registered_method=True)
         self.speedL = channel.unary_unary(
-                '/cmvr.api.HumanoidRobotService/speedL',
+                '/cmvr.api.ArmService/speedL',
-                request_serializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.SpeedL.Request.SerializeToString,
+                request_serializer=cmvr_dot_api_dot_arm__command__pb2.SpeedL.Request.SerializeToString,
-                response_deserializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.SpeedL.Response.FromString,
+                response_deserializer=cmvr_dot_api_dot_arm__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,
                 _registered_method=True)
         self.servoJ = channel.unary_unary(
-                '/cmvr.api.HumanoidRobotService/servoJ',
+                '/cmvr.api.ArmService/servoJ',
-                request_serializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.ServoJ.Request.SerializeToString,
+                request_serializer=cmvr_dot_api_dot_arm__command__pb2.ServoJ.Request.SerializeToString,
-                response_deserializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.ServoJ.Response.FromString,
+                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',
+                '/cmvr.api.ArmService/getPoseMatrix',
-                request_serializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.GetPoseMatrix.Request.SerializeToString,
+                request_serializer=cmvr_dot_api_dot_arm__command__pb2.GetPoseMatrix.Request.SerializeToString,
-                response_deserializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.GetPoseMatrix.Response.FromString,
+                response_deserializer=cmvr_dot_api_dot_arm__command__pb2.GetPoseMatrix.Response.FromString,
                 _registered_method=True)
         self.computeForwardKinematics = channel.unary_unary(
-                '/cmvr.api.HumanoidRobotService/computeForwardKinematics',
+                '/cmvr.api.ArmService/computeForwardKinematics',
-                request_serializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.ComputeForwardKinematics.Request.SerializeToString,
+                request_serializer=cmvr_dot_api_dot_arm__command__pb2.ComputeForwardKinematics.Request.SerializeToString,
-                response_deserializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.ComputeForwardKinematics.Response.FromString,
+                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,
+                    request_deserializer=cmvr_dot_api_dot_arm__command__pb2.MoveJ.Request.FromString,
-                    response_serializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.MoveJ.Response.SerializeToString,
+                    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,
+                    request_deserializer=cmvr_dot_api_dot_arm__command__pb2.MoveL.Request.FromString,
-                    response_serializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.MoveL.Response.SerializeToString,
+                    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,
+                    request_deserializer=cmvr_dot_api_dot_arm__command__pb2.SpeedJ.Request.FromString,
-                    response_serializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.SpeedJ.Response.SerializeToString,
+                    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,
+                    request_deserializer=cmvr_dot_api_dot_arm__command__pb2.SpeedL.Request.FromString,
-                    response_serializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.SpeedL.Response.SerializeToString,
+                    response_serializer=cmvr_dot_api_dot_arm__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,
             ),
             'servoJ': grpc.unary_unary_rpc_method_handler(
                     servicer.servoJ,
-                    request_deserializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.ServoJ.Request.FromString,
+                    request_deserializer=cmvr_dot_api_dot_arm__command__pb2.ServoJ.Request.FromString,
-                    response_serializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.ServoJ.Response.SerializeToString,
+                    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,
+                    request_deserializer=cmvr_dot_api_dot_arm__command__pb2.GetPoseMatrix.Request.FromString,
-                    response_serializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.GetPoseMatrix.Response.SerializeToString,
+                    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,
+                    request_deserializer=cmvr_dot_api_dot_arm__command__pb2.ComputeForwardKinematics.Request.FromString,
-                    response_serializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.ComputeForwardKinematics.Response.SerializeToString,
+                    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.api.ArmService/moveJ',
-            cmvr_dot_api_dot_humanoid__robot__command__pb2.MoveJ.Request.SerializeToString,
+            cmvr_dot_api_dot_arm__command__pb2.MoveJ.Request.SerializeToString,
-            cmvr_dot_api_dot_humanoid__robot__command__pb2.MoveJ.Response.FromString,
+            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.api.ArmService/moveL',
-            cmvr_dot_api_dot_humanoid__robot__command__pb2.MoveL.Request.SerializeToString,
+            cmvr_dot_api_dot_arm__command__pb2.MoveL.Request.SerializeToString,
-            cmvr_dot_api_dot_humanoid__robot__command__pb2.MoveL.Response.FromString,
+            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.api.ArmService/speedJ',
-            cmvr_dot_api_dot_humanoid__robot__command__pb2.SpeedJ.Request.SerializeToString,
+            cmvr_dot_api_dot_arm__command__pb2.SpeedJ.Request.SerializeToString,
-            cmvr_dot_api_dot_humanoid__robot__command__pb2.SpeedJ.Response.FromString,
+            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.api.ArmService/speedL',
-            cmvr_dot_api_dot_humanoid__robot__command__pb2.SpeedL.Request.SerializeToString,
+            cmvr_dot_api_dot_arm__command__pb2.SpeedL.Request.SerializeToString,
-            cmvr_dot_api_dot_humanoid__robot__command__pb2.SpeedL.Response.FromString,
+            cmvr_dot_api_dot_arm__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,
             options,
             channel_credentials,
             insecure,
@@ -503,9 +438,117 @@ class HumanoidRobotService(object):
         return grpc.experimental.unary_unary(
             request,
             target,
-            '/cmvr.api.HumanoidRobotService/servoJ',
+            '/cmvr.api.ArmService/servoJ',
-            cmvr_dot_api_dot_humanoid__robot__command__pb2.ServoJ.Request.SerializeToString,
+            cmvr_dot_api_dot_arm__command__pb2.ServoJ.Request.SerializeToString,
-            cmvr_dot_api_dot_humanoid__robot__command__pb2.ServoJ.Response.FromString,
+            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.api.ArmService/getPoseMatrix',
-            cmvr_dot_api_dot_humanoid__robot__command__pb2.GetPoseMatrix.Request.SerializeToString,
+            cmvr_dot_api_dot_arm__command__pb2.GetPoseMatrix.Request.SerializeToString,
-            cmvr_dot_api_dot_humanoid__robot__command__pb2.GetPoseMatrix.Response.FromString,
+            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.api.ArmService/computeForwardKinematics',
-            cmvr_dot_api_dot_humanoid__robot__command__pb2.ComputeForwardKinematics.Request.SerializeToString,
+            cmvr_dot_api_dot_arm__command__pb2.ComputeForwardKinematics.Request.SerializeToString,
-            cmvr_dot_api_dot_humanoid__robot__command__pb2.ComputeForwardKinematics.Response.FromString,
+            cmvr_dot_api_dot_arm__command__pb2.ComputeForwardKinematics.Response.FromString,
             options,
             channel_credentials,
             insecure,

generated/cmvr/api/humanoid_robot_service_pb2.py

@@ -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)

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)

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}.'

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)

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}.'
+    )

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}.'
+    )

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['_AUBOROBOTCONFIG']._serialized_start=70
-  _globals['_FFMPEGSPEAKERCONFIG']._serialized_end=113
+  _globals['_AUBOROBOTCONFIG']._serialized_end=161
-  _globals['_SPEAKERCONFIG']._serialized_start=115
-  _globals['_SPEAKERCONFIG']._serialized_end=189
 # @@protoc_insertion_point(module_scope)

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}.'
+    )

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)

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}.'
+    )

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_start=1115
-  _globals['_CAMERAMODE']._serialized_end=880
+  _globals['_CAMERAMODE']._serialized_end=1173
-  _globals['_STREAMMODE']._serialized_start=882
+  _globals['_STREAMMODE']._serialized_start=1175
-  _globals['_STREAMMODE']._serialized_end=960
+  _globals['_STREAMMODE']._serialized_end=1253
-  _globals['_ALIGNMODE']._serialized_start=962
+  _globals['_ALIGNMODE']._serialized_start=1255
-  _globals['_ALIGNMODE']._serialized_end=1017
+  _globals['_ALIGNMODE']._serialized_end=1310
   _globals['_REALSENSECAMERACONFIG']._serialized_start=63
-  _globals['_REALSENSECAMERACONFIG']._serialized_end=411
+  _globals['_REALSENSECAMERACONFIG']._serialized_end=401
-  _globals['_UVCCAMERACONFIG']._serialized_start=414
+  _globals['_UVCCAMERACONFIG']._serialized_start=404
-  _globals['_UVCCAMERACONFIG']._serialized_end=689
+  _globals['_UVCCAMERACONFIG']._serialized_end=669
-  _globals['_CAMERACONFIG']._serialized_start=692
+  _globals['_MECHMINDCAMERACONFIG']._serialized_start=671
-  _globals['_CAMERACONFIG']._serialized_end=820
+  _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)

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['_CMVRESCONFIG']._serialized_start=65
-  _globals['_PINOCCHIOQPIKCONFIG']._serialized_end=270
+  _globals['_CMVRESCONFIG']._serialized_end=222
+  _globals['_CMVRESROOTCONFIG']._serialized_start=224
+  _globals['_CMVRESROOTCONFIG']._serialized_end=286
 # @@protoc_insertion_point(module_scope)

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}.'
+    )

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)

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}.'
+    )

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['_RH56DFTPDEXHANDCONFIG']._serialized_end=157
-  _globals['_DEXHANDCONFIG']._serialized_start=143
+  _globals['_PX6AXGEN3']._serialized_start=160
-  _globals['_DEXHANDCONFIG']._serialized_end=221
+  _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)

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)

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}.'
+    )

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)

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}.'
+    )

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)

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}.'
+    )

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_start=70
-  _globals['_FFMPEGMICROPHONECONFIG']._serialized_end=199
+  _globals['_FFMPEGMICROPHONECONFIG']._serialized_end=188
-  _globals['_MICROPHONECONFIG']._serialized_start=201
+  _globals['_MICROPHONEDEVICECONFIG']._serialized_start=190
-  _globals['_MICROPHONECONFIG']._serialized_end=284
+  _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)

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)

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}.'
+    )

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)

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)

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}.'

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)

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}.'