# -*- coding: utf-8 -*-
# Generated by the protocol buffer compiler.  DO NOT EDIT!
# NO CHECKED-IN PROTOBUF GENCODE
# source: cmvr/api/humanoid_robot_command.proto
# Protobuf Python Version: 6.31.1
"""Generated protocol buffer code."""
from google.protobuf import descriptor as _descriptor
from google.protobuf import descriptor_pool as _descriptor_pool
from google.protobuf import runtime_version as _runtime_version
from google.protobuf import symbol_database as _symbol_database
from google.protobuf.internal import builder as _builder
_runtime_version.ValidateProtobufRuntimeVersion(
    _runtime_version.Domain.PUBLIC,
    6,
    31,
    1,
    '',
    'cmvr/api/humanoid_robot_command.proto'
)
# @@protoc_insertion_point(imports)

_sym_db = _symbol_database.Default()


from cmvr.api import common_pb2 as cmvr_dot_api_dot_common__pb2


DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n%cmvr/api/humanoid_robot_command.proto\x12\x08\x63mvr.api\x1a\x15\x63mvr/api/common.proto\"8\n\x08JointCmd\x12\x12\n\njoint_name\x18\x01 \x01(\t\x12\x0b\n\x03rad\x18\x02 \x01(\x01\x12\x0b\n\x03vel\x18\x03 \x01(\x01\"M\n\x06Pose3D\x12\t\n\x01x\x18\x01 \x01(\x01\x12\t\n\x01y\x18\x02 \x01(\x01\x12\t\n\x01z\x18\x03 \x01(\x01\x12\n\n\x02rx\x18\x04 \x01(\x01\x12\n\n\x02ry\x18\x05 \x01(\x01\x12\n\n\x02rz\x18\x06 \x01(\x01\"\xe4\x01\n\x12TransformMatrix4x4\x12\x0b\n\x03m00\x18\x01 \x01(\x01\x12\x0b\n\x03m01\x18\x02 \x01(\x01\x12\x0b\n\x03m02\x18\x03 \x01(\x01\x12\x0b\n\x03m03\x18\x04 \x01(\x01\x12\x0b\n\x03m10\x18\x05 \x01(\x01\x12\x0b\n\x03m11\x18\x06 \x01(\x01\x12\x0b\n\x03m12\x18\x07 \x01(\x01\x12\x0b\n\x03m13\x18\x08 \x01(\x01\x12\x0b\n\x03m20\x18\t \x01(\x01\x12\x0b\n\x03m21\x18\n \x01(\x01\x12\x0b\n\x03m22\x18\x0b \x01(\x01\x12\x0b\n\x03m23\x18\x0c \x01(\x01\x12\x0b\n\x03m30\x18\r \x01(\x01\x12\x0b\n\x03m31\x18\x0e \x01(\x01\x12\x0b\n\x03m32\x18\x0f \x01(\x01\x12\x0b\n\x03m33\x18\x10 \x01(\x01\"\xbd\x01\n\x05MoveJ\x1av\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12 \n\x04\x63mds\x18\x02 \x03(\x0b\x32\x12.cmvr.api.JointCmd\x12\x0b\n\x03vel\x18\x03 \x01(\x01\x12\x0b\n\x03\x61\x63\x63\x18\x04 \x01(\x01\x1a<\n\x08Response\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\xc7\x01\n\x07GetPose\x1a^\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12\x11\n\tbase_link\x18\x02 \x01(\t\x12\x0f\n\x07\x65\x65_link\x18\x03 \x01(\t\x1a\\\n\x08Response\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12\x1e\n\x04pose\x18\x02 \x01(\x0b\x32\x10.cmvr.api.Pose3D\"\xd3\x01\n\x05MoveL\x1a\x8b\x01\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12\x0f\n\x07\x65\x65_link\x18\x02 \x01(\t\x12$\n\ntargetPose\x18\x03 \x01(\x0b\x32\x10.cmvr.api.Pose3D\x12\x0b\n\x03vel\x18\x04 \x01(\x01\x12\x0b\n\x03\x61\x63\x63\x18\x05 \x01(\x01\x1a<\n\x08Response\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\xe2\x01\n\x06SpeedJ\x1a\x99\x01\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12\x12\n\njoint_name\x18\x02 \x01(\t\x12\x0b\n\x03vel\x18\x03 \x01(\x01\x12\x0b\n\x03\x61\x63\x63\x18\x04 \x01(\x01\x12/\n\x03\x64ir\x18\x05 \x01(\x0e\x32\".cmvr.api.RobotJointIndexDirection\x1a<\n\x08Response\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\x87\x02\n\x06SpeedL\x1a\xbe\x01\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12\x0f\n\x07\x65\x65_link\x18\x02 \x01(\t\x12\x0b\n\x03vel\x18\x03 \x01(\x01\x12\x0b\n\x03\x61\x63\x63\x18\x04 \x01(\x01\x12/\n\x03\x64ir\x18\x05 \x01(\x0e\x32\".cmvr.api.RobotJointIndexDirection\x12&\n\x04\x63\x61rt\x18\x06 \x01(\x0e\x32\x18.cmvr.api.RobotCartesian\x1a<\n\x08Response\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"a\n\nJointState\x12\x0c\n\x04name\x18\x01 \x03(\t\x12\x10\n\x08position\x18\x02 \x03(\x01\x12\x10\n\x08velocity\x18\x03 \x03(\x01\x12\x0e\n\x06\x65\x66\x66ort\x18\x04 \x03(\x01\x12\x11\n\ttimestamp\x18\x05 \x01(\x01\"f\n\rJointResponse\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12#\n\x05state\x18\x02 \x03(\x0b\x32\x14.cmvr.api.JointState\"?\n\x0cJointRequest\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\"\x9e\x01\n\x0e\x43\x61librateZeroQ\x1aN\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12\x12\n\njoint_name\x18\x02 \x01(\t\x1a<\n\x08Response\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\xb1\x01\n\x06ServoJ\x1ai\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12 \n\x04\x63mds\x18\x02 \x03(\x0b\x32\x12.cmvr.api.JointCmd\x12\x0b\n\x03vel\x18\x03 \x01(\x01\x1a<\n\x08Response\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\xdb\x01\n\rGetPoseMatrix\x1a^\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12\x11\n\tbase_link\x18\x02 \x01(\t\x12\x0f\n\x07\x65\x65_link\x18\x03 \x01(\t\x1aj\n\x08Response\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12,\n\x06matrix\x18\x02 \x01(\x0b\x32\x1c.cmvr.api.TransformMatrix4x4\"\x8b\x02\n\x18\x43omputeForwardKinematics\x1a\x82\x01\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12\x11\n\tbase_link\x18\x02 \x01(\t\x12\x0f\n\x07\x65\x65_link\x18\x03 \x01(\t\x12\"\n\x06joints\x18\x04 \x03(\x0b\x32\x12.cmvr.api.JointCmd\x1aj\n\x08Response\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12,\n\x06matrix\x18\x02 \x01(\x0b\x32\x1c.cmvr.api.TransformMatrix4x4*=\n\x0eRobotCartesian\x12\x05\n\x01X\x10\x00\x12\x05\n\x01Y\x10\x01\x12\x05\n\x01Z\x10\x02\x12\x06\n\x02RX\x10\x03\x12\x06\n\x02RY\x10\x04\x12\x06\n\x02RZ\x10\x05*\xbf\x01\n\x18RobotJointIndexDirection\x12\x0b\n\x07\x46ORWARD\x10\x00\x12\x0c\n\x08\x42\x41\x43KWARD\x10\x01\x12\x0e\n\nX_POSITIVE\x10\x02\x12\x0e\n\nX_NEGATIVE\x10\x03\x12\x0e\n\nY_POSITIVE\x10\x04\x12\x0e\n\nY_NEGATIVE\x10\x05\x12\x0e\n\nZ_POSITIVE\x10\x06\x12\x0e\n\nZ_NEGATIVE\x10\x07\x12\x0c\n\x08ROTATE_X\x10\x08\x12\x0c\n\x08ROTATE_Y\x10\t\x12\x0c\n\x08ROTATE_Z\x10\nb\x06proto3')

_globals = globals()
_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.api.humanoid_robot_command_pb2', _globals)
if not _descriptor._USE_C_DESCRIPTORS:
  DESCRIPTOR._loaded_options = None
  _globals['_ROBOTCARTESIAN']._serialized_start=2646
  _globals['_ROBOTCARTESIAN']._serialized_end=2707
  _globals['_ROBOTJOINTINDEXDIRECTION']._serialized_start=2710
  _globals['_ROBOTJOINTINDEXDIRECTION']._serialized_end=2901
  _globals['_JOINTCMD']._serialized_start=74
  _globals['_JOINTCMD']._serialized_end=130
  _globals['_POSE3D']._serialized_start=132
  _globals['_POSE3D']._serialized_end=209
  _globals['_TRANSFORMMATRIX4X4']._serialized_start=212
  _globals['_TRANSFORMMATRIX4X4']._serialized_end=440
  _globals['_MOVEJ']._serialized_start=443
  _globals['_MOVEJ']._serialized_end=632
  _globals['_MOVEJ_REQUEST']._serialized_start=452
  _globals['_MOVEJ_REQUEST']._serialized_end=570
  _globals['_MOVEJ_RESPONSE']._serialized_start=572
  _globals['_MOVEJ_RESPONSE']._serialized_end=632
  _globals['_GETPOSE']._serialized_start=635
  _globals['_GETPOSE']._serialized_end=834
  _globals['_GETPOSE_REQUEST']._serialized_start=646
  _globals['_GETPOSE_REQUEST']._serialized_end=740
  _globals['_GETPOSE_RESPONSE']._serialized_start=742
  _globals['_GETPOSE_RESPONSE']._serialized_end=834
  _globals['_MOVEL']._serialized_start=837
  _globals['_MOVEL']._serialized_end=1048
  _globals['_MOVEL_REQUEST']._serialized_start=847
  _globals['_MOVEL_REQUEST']._serialized_end=986
  _globals['_MOVEL_RESPONSE']._serialized_start=572
  _globals['_MOVEL_RESPONSE']._serialized_end=632
  _globals['_SPEEDJ']._serialized_start=1051
  _globals['_SPEEDJ']._serialized_end=1277
  _globals['_SPEEDJ_REQUEST']._serialized_start=1062
  _globals['_SPEEDJ_REQUEST']._serialized_end=1215
  _globals['_SPEEDJ_RESPONSE']._serialized_start=572
  _globals['_SPEEDJ_RESPONSE']._serialized_end=632
  _globals['_SPEEDL']._serialized_start=1280
  _globals['_SPEEDL']._serialized_end=1543
  _globals['_SPEEDL_REQUEST']._serialized_start=1291
  _globals['_SPEEDL_REQUEST']._serialized_end=1481
  _globals['_SPEEDL_RESPONSE']._serialized_start=572
  _globals['_SPEEDL_RESPONSE']._serialized_end=632
  _globals['_JOINTSTATE']._serialized_start=1545
  _globals['_JOINTSTATE']._serialized_end=1642
  _globals['_JOINTRESPONSE']._serialized_start=1644
  _globals['_JOINTRESPONSE']._serialized_end=1746
  _globals['_JOINTREQUEST']._serialized_start=1748
  _globals['_JOINTREQUEST']._serialized_end=1811
  _globals['_CALIBRATEZEROQ']._serialized_start=1814
  _globals['_CALIBRATEZEROQ']._serialized_end=1972
  _globals['_CALIBRATEZEROQ_REQUEST']._serialized_start=1062
  _globals['_CALIBRATEZEROQ_REQUEST']._serialized_end=1140
  _globals['_CALIBRATEZEROQ_RESPONSE']._serialized_start=572
  _globals['_CALIBRATEZEROQ_RESPONSE']._serialized_end=632
  _globals['_SERVOJ']._serialized_start=1975
  _globals['_SERVOJ']._serialized_end=2152
  _globals['_SERVOJ_REQUEST']._serialized_start=452
  _globals['_SERVOJ_REQUEST']._serialized_end=557
  _globals['_SERVOJ_RESPONSE']._serialized_start=572
  _globals['_SERVOJ_RESPONSE']._serialized_end=632
  _globals['_GETPOSEMATRIX']._serialized_start=2155
  _globals['_GETPOSEMATRIX']._serialized_end=2374
  _globals['_GETPOSEMATRIX_REQUEST']._serialized_start=646
  _globals['_GETPOSEMATRIX_REQUEST']._serialized_end=740
  _globals['_GETPOSEMATRIX_RESPONSE']._serialized_start=2268
  _globals['_GETPOSEMATRIX_RESPONSE']._serialized_end=2374
  _globals['_COMPUTEFORWARDKINEMATICS']._serialized_start=2377
  _globals['_COMPUTEFORWARDKINEMATICS']._serialized_end=2644
  _globals['_COMPUTEFORWARDKINEMATICS_REQUEST']._serialized_start=2406
  _globals['_COMPUTEFORWARDKINEMATICS_REQUEST']._serialized_end=2536
  _globals['_COMPUTEFORWARDKINEMATICS_RESPONSE']._serialized_start=2268
  _globals['_COMPUTEFORWARDKINEMATICS_RESPONSE']._serialized_end=2374
# @@protoc_insertion_point(module_scope)