82 lines
10 KiB
Python
82 lines
10 KiB
Python
# -*- coding: utf-8 -*-
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# Generated by the protocol buffer compiler. DO NOT EDIT!
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# NO CHECKED-IN PROTOBUF GENCODE
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# source: cmvr/config/arm_config/arm_config.proto
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# Protobuf Python Version: 6.31.1
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"""Generated protocol buffer code."""
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from google.protobuf import descriptor as _descriptor
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from google.protobuf import descriptor_pool as _descriptor_pool
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from google.protobuf import runtime_version as _runtime_version
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from google.protobuf import symbol_database as _symbol_database
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from google.protobuf.internal import builder as _builder
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_runtime_version.ValidateProtobufRuntimeVersion(
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_runtime_version.Domain.PUBLIC,
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6,
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31,
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1,
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'',
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'cmvr/config/arm_config/arm_config.proto'
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)
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# @@protoc_insertion_point(imports)
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_sym_db = _symbol_database.Default()
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from cmvr.common import geometry_pb2 as cmvr_dot_common_dot_geometry__pb2
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from cmvr.config import lawba_ik_config_pb2 as cmvr_dot_config_dot_lawba__ik__config__pb2
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from cmvr.config import pinocchio_dls_ik_config_pb2 as cmvr_dot_config_dot_pinocchio__dls__ik__config__pb2
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from cmvr.config import pinocchio_qp_ik_config_pb2 as cmvr_dot_config_dot_pinocchio__qp__ik__config__pb2
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from cmvr.config import srs_ik_config_pb2 as cmvr_dot_config_dot_srs__ik__config__pb2
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DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\'cmvr/config/arm_config/arm_config.proto\x12\x0b\x63mvr.config\x1a\x1a\x63mvr/common/geometry.proto\x1a!cmvr/config/lawba_ik_config.proto\x1a)cmvr/config/pinocchio_dls_ik_config.proto\x1a(cmvr/config/pinocchio_qp_ik_config.proto\x1a\x1f\x63mvr/config/srs_ik_config.proto\"\xc1\x01\n\x1aMotorRobotArmBackendConfig\x12\x17\n\x0fmotor_system_id\x18\x02 \x01(\t\x12\x0b\n\x03\x64of\x18\x03 \x01(\x05\x12\x13\n\x0bjoint_names\x18\x04 \x03(\t\x12\x10\n\x08upd_freq\x18\x05 \x01(\x05\x12\x13\n\x0b\x62uffer_size\x18\x06 \x01(\x05\x12\x13\n\x0b\x64\x65\x66\x61ult_vel\x18\x07 \x01(\x01\x12\x13\n\x0b\x64\x65\x66\x61ult_acc\x18\x08 \x01(\x01\x12\x17\n\x0fmotor_group_ids\x18\t \x03(\t\"\x9f\x01\n\x1bVendorRobotArmBackendConfig\x12\r\n\x05\x62rand\x18\x01 \x01(\t\x12\n\n\x02ip\x18\x02 \x01(\t\x12\x0c\n\x04port\x18\x03 \x01(\x05\x12\r\n\x05model\x18\x04 \x01(\t\x12\x0b\n\x03\x64of\x18\x05 \x01(\x05\x12\x13\n\x0bjoint_names\x18\x06 \x03(\t\x12\x12\n\nbase_frame\x18\x07 \x01(\t\x12\x12\n\ntool_frame\x18\x08 \x01(\t\"V\n\x10JointLimitConfig\x12\x12\n\njoint_name\x18\x01 \x01(\t\x12\r\n\x05lower\x18\x02 \x01(\x01\x12\r\n\x05upper\x18\x03 \x01(\x01\x12\x10\n\x08velocity\x18\x04 \x01(\x01\"q\n\x11JointLimitsConfig\x12-\n\x06source\x18\x01 \x01(\x0e\x32\x1d.cmvr.config.JointLimitSource\x12-\n\x06joints\x18\x02 \x03(\x0b\x32\x1d.cmvr.config.JointLimitConfig\"s\n\x1bQpJointLimitAvoidanceConfig\x12\x0e\n\x06\x65nable\x18\x01 \x01(\x08\x12\x14\n\x0cmargin_ratio\x18\x02 \x01(\x01\x12\x0c\n\x04gain\x18\x03 \x01(\x01\x12\x10\n\x08max_push\x18\x04 \x01(\x01\x12\x0e\n\x06weight\x18\x05 \x01(\x01\"\x9f\x02\n\x19\x43\x61rtesianVelocityQpConfig\x12\x34\n\x0cjoint_limits\x18\x01 \x01(\x0b\x32\x1e.cmvr.config.JointLimitsConfig\x12\x30\n\x15twist_tracking_weight\x18\x02 \x01(\x0b\x32\x11.cmvr.common.Vec6\x12\x1b\n\x13qdot_regularization\x18\x03 \x01(\x01\x12 \n\x18prev_qdot_regularization\x18\x04 \x01(\x01\x12\x12\n\nsolver_eps\x18\x05 \x01(\x01\x12G\n\x15joint_limit_avoidance\x18\x06 \x01(\x0b\x32(.cmvr.config.QpJointLimitAvoidanceConfig\"\xd6\x04\n\x13SpeedLPlannerConfig\x12\x1b\n\x13linear_velocity_max\x18\x01 \x01(\x01\x12\x1f\n\x17linear_acceleration_max\x18\x02 \x01(\x01\x12\x17\n\x0flinear_jerk_max\x18\x03 \x01(\x01\x12\x1c\n\x14\x61ngular_velocity_max\x18\x04 \x01(\x01\x12 \n\x18\x61ngular_acceleration_max\x18\x05 \x01(\x01\x12\x18\n\x10\x61ngular_jerk_max\x18\x06 \x01(\x01\x12\x1e\n\x16joint_acceleration_max\x18\x07 \x03(\x01\x12&\n\x1elinear_target_replan_threshold\x18\x08 \x01(\x01\x12\'\n\x1f\x61ngular_target_replan_threshold\x18\t \x01(\x01\x12$\n\x1clinear_reverse_cos_threshold\x18\n \x01(\x01\x12-\n%linear_reverse_switch_speed_threshold\x18\x0b \x01(\x01\x12&\n\x1enormal_direction_deviation_deg\x18\x0c \x01(\x01\x12$\n\x1cmild_direction_deviation_deg\x18\r \x01(\x01\x12&\n\x1esevere_direction_deviation_deg\x18\x0e \x01(\x01\x12\x1e\n\x16linear_min_speed_ratio\x18\x0f \x01(\x01\x12\x32\n\x02qp\x18\x10 \x01(\x0b\x32&.cmvr.config.CartesianVelocityQpConfig\"\x9f\x01\n!CartesianVelocityControllerConfig\x12\x18\n\x10\x63ontrol_period_s\x18\x01 \x01(\x01\x12\x17\n\x0fstop_twist_norm\x18\x02 \x01(\x01\x12\"\n\x1astop_command_velocity_norm\x18\x03 \x01(\x01\x12#\n\x1bstop_measured_velocity_norm\x18\x04 \x01(\x01\"\x94\x01\n\x1eToppraJointMotionPlannerConfig\x12.\n\tpath_type\x18\x01 \x01(\x0e\x32\x1b.cmvr.config.ToppraPathType\x12\x17\n\x0fsample_period_s\x18\x02 \x01(\x01\x12\x11\n\tgrid_size\x18\x03 \x01(\x05\x12\x16\n\x0ehigh_grid_size\x18\x04 \x01(\x05\"n\n\x0bMoveJConfig\x12R\n\x1btoppra_joint_motion_planner\x18\x01 \x01(\x0b\x32+.cmvr.config.ToppraJointMotionPlannerConfigH\x00\x42\x0b\n\talgorithm\"\x8f\x01\n\x12MoveLPlannerConfig\x12\x17\n\x0fsample_period_s\x18\x01 \x01(\x01\x12\x15\n\rposition_gain\x18\x02 \x01(\x01\x12\x15\n\rrotation_gain\x18\x03 \x01(\x01\x12\x32\n\x02qp\x18\x04 \x01(\x0b\x32&.cmvr.config.CartesianVelocityQpConfig\"\xbf\x01\n\x0bMoveLConfig\x12Q\n&pinocchio_dls_cartesian_motion_planner\x18\x01 \x01(\x0b\x32\x1f.cmvr.config.MoveLPlannerConfigH\x00\x12P\n%pinocchio_qp_cartesian_motion_planner\x18\x02 \x01(\x0b\x32\x1f.cmvr.config.MoveLPlannerConfigH\x00\x42\x0b\n\talgorithm\"~\n\x16SpeedLControllerConfig\x12W\n\x1d\x63\x61rtesian_velocity_controller\x18\x01 \x01(\x0b\x32..cmvr.config.CartesianVelocityControllerConfigH\x00\x42\x0b\n\talgorithm\"\x83\x02\n\x0cSpeedLConfig\x12R\n&pinocchio_dls_cartesian_motion_planner\x18\x01 \x01(\x0b\x32 .cmvr.config.SpeedLPlannerConfigH\x00\x12Q\n%pinocchio_qp_cartesian_motion_planner\x18\x02 \x01(\x0b\x32 .cmvr.config.SpeedLPlannerConfigH\x00\x12?\n\x12speed_l_controller\x18\n \x01(\x0b\x32#.cmvr.config.SpeedLControllerConfigB\x0b\n\talgorithm\"\x96\x02\n\x13\x41rmKinematicsConfig\x12\x44\n\x17pinocchio_dls_ik_solver\x18\n \x01(\x0b\x32!.cmvr.config.PinocchioDlsIKConfigH\x00\x12\x42\n\x16pinocchio_qp_ik_solver\x18\x0b \x01(\x0b\x32 .cmvr.config.PinocchioQpIKConfigH\x00\x12\x31\n\rsrs_ik_solver\x18\x0c \x01(\x0b\x32\x18.cmvr.config.SrsIKConfigH\x00\x12\x35\n\x0flawba_ik_solver\x18\r \x01(\x0b\x32\x1a.cmvr.config.LawbaIKConfigH\x00\x42\x0b\n\talgorithm\"\x97\x01\n\x0f\x41rmMotionConfig\x12(\n\x06move_j\x18\x01 \x01(\x0b\x32\x18.cmvr.config.MoveJConfig\x12(\n\x06move_l\x18\x02 \x01(\x0b\x32\x18.cmvr.config.MoveLConfig\x12*\n\x07speed_l\x18\x04 \x01(\x0b\x32\x19.cmvr.config.SpeedLConfigJ\x04\x08\x03\x10\x04\"\x87\x02\n\x0eRobotArmConfig\x12\n\n\x02id\x18\x01 \x01(\t\x12\x38\n\x05motor\x18\n \x01(\x0b\x32\'.cmvr.config.MotorRobotArmBackendConfigH\x00\x12:\n\x06vendor\x18\x0b \x01(\x0b\x32(.cmvr.config.VendorRobotArmBackendConfigH\x00\x12\x34\n\nkinematics\x18\x14 \x01(\x0b\x32 .cmvr.config.ArmKinematicsConfig\x12,\n\x06motion\x18\x15 \x01(\x0b\x32\x1c.cmvr.config.ArmMotionConfigB\t\n\x07\x62\x61\x63kendJ\x04\x08\x02\x10\x03\"<\n\tArmConfig\x12/\n\nrobot_arms\x18\x01 \x03(\x0b\x32\x1b.cmvr.config.RobotArmConfig\"4\n\rArmRootConfig\x12#\n\x03\x61rm\x18\x01 \x01(\x0b\x32\x16.cmvr.config.ArmConfig*\xab\x01\n\x0eToppraPathType\x12\x1c\n\x18TOPPRA_PATH_TYPE_UNKNOWN\x10\x00\x12\x1b\n\x17TOPPRA_PATH_TYPE_LINEAR\x10\x01\x12\"\n\x1eTOPPRA_PATH_TYPE_CUBIC_HERMITE\x10\x02\x12\x1c\n\x18TOPPRA_PATH_TYPE_QUINTIC\x10\x03\x12\x1c\n\x18TOPPRA_PATH_TYPE_NATURAL\x10\x04*n\n\x10JointLimitSource\x12\x1e\n\x1aJOINT_LIMIT_SOURCE_UNKNOWN\x10\x00\x12\x1b\n\x17JOINT_LIMIT_SOURCE_URDF\x10\x01\x12\x1d\n\x19JOINT_LIMIT_SOURCE_CUSTOM\x10\x02\x62\x06proto3')
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_globals = globals()
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_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
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_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.config.arm_config.arm_config_pb2', _globals)
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if not _descriptor._USE_C_DESCRIPTORS:
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DESCRIPTOR._loaded_options = None
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_globals['_TOPPRAPATHTYPE']._serialized_start=3779
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_globals['_TOPPRAPATHTYPE']._serialized_end=3950
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_globals['_JOINTLIMITSOURCE']._serialized_start=3952
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_globals['_JOINTLIMITSOURCE']._serialized_end=4062
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_globals['_MOTORROBOTARMBACKENDCONFIG']._serialized_start=238
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_globals['_MOTORROBOTARMBACKENDCONFIG']._serialized_end=431
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_globals['_VENDORROBOTARMBACKENDCONFIG']._serialized_start=434
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_globals['_VENDORROBOTARMBACKENDCONFIG']._serialized_end=593
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_globals['_JOINTLIMITCONFIG']._serialized_start=595
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_globals['_JOINTLIMITCONFIG']._serialized_end=681
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_globals['_JOINTLIMITSCONFIG']._serialized_start=683
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_globals['_JOINTLIMITSCONFIG']._serialized_end=796
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_globals['_QPJOINTLIMITAVOIDANCECONFIG']._serialized_start=798
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_globals['_QPJOINTLIMITAVOIDANCECONFIG']._serialized_end=913
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_globals['_CARTESIANVELOCITYQPCONFIG']._serialized_start=916
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_globals['_CARTESIANVELOCITYQPCONFIG']._serialized_end=1203
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_globals['_SPEEDLPLANNERCONFIG']._serialized_start=1206
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_globals['_SPEEDLPLANNERCONFIG']._serialized_end=1804
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_globals['_CARTESIANVELOCITYCONTROLLERCONFIG']._serialized_start=1807
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_globals['_CARTESIANVELOCITYCONTROLLERCONFIG']._serialized_end=1966
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_globals['_TOPPRAJOINTMOTIONPLANNERCONFIG']._serialized_start=1969
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_globals['_TOPPRAJOINTMOTIONPLANNERCONFIG']._serialized_end=2117
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_globals['_MOVEJCONFIG']._serialized_start=2119
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_globals['_MOVEJCONFIG']._serialized_end=2229
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_globals['_MOVELPLANNERCONFIG']._serialized_start=2232
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_globals['_MOVELPLANNERCONFIG']._serialized_end=2375
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_globals['_MOVELCONFIG']._serialized_start=2378
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_globals['_MOVELCONFIG']._serialized_end=2569
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_globals['_SPEEDLCONTROLLERCONFIG']._serialized_start=2571
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_globals['_SPEEDLCONTROLLERCONFIG']._serialized_end=2697
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_globals['_SPEEDLCONFIG']._serialized_start=2700
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_globals['_SPEEDLCONFIG']._serialized_end=2959
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_globals['_ARMKINEMATICSCONFIG']._serialized_start=2962
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_globals['_ARMKINEMATICSCONFIG']._serialized_end=3240
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_globals['_ARMMOTIONCONFIG']._serialized_start=3243
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_globals['_ARMMOTIONCONFIG']._serialized_end=3394
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_globals['_ROBOTARMCONFIG']._serialized_start=3397
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_globals['_ROBOTARMCONFIG']._serialized_end=3660
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_globals['_ARMCONFIG']._serialized_start=3662
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_globals['_ARMCONFIG']._serialized_end=3722
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_globals['_ARMROOTCONFIG']._serialized_start=3724
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_globals['_ARMROOTCONFIG']._serialized_end=3776
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# @@protoc_insertion_point(module_scope)
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