# -*- coding: utf-8 -*-
# Generated by the protocol buffer compiler.  DO NOT EDIT!
# NO CHECKED-IN PROTOBUF GENCODE
# source: cmvr/config/touch_screen_task_config/touch_screen_task_config.proto
# Protobuf Python Version: 6.33.5
"""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,
    33,
    5,
    '',
    'cmvr/config/touch_screen_task_config/touch_screen_task_config.proto'
)
# @@protoc_insertion_point(imports)

_sym_db = _symbol_database.Default()


from cmvr.common import geometry_pb2 as cmvr_dot_common_dot_geometry__pb2
from cmvr.config import touch_screen_common_config_pb2 as cmvr_dot_config_dot_touch__screen__common__config__pb2
from cmvr.config import touch_screen_algorithm_config_pb2 as cmvr_dot_config_dot_touch__screen__algorithm__config__pb2


DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\nCcmvr/config/touch_screen_task_config/touch_screen_task_config.proto\x12\x0b\x63mvr.config\x1a\x1a\x63mvr/common/geometry.proto\x1a,cmvr/config/touch_screen_common_config.proto\x1a/cmvr/config/touch_screen_algorithm_config.proto\"]\n\x19TouchScreenInitJointPoint\x12\x17\n\njoint_name\x18\x01 \x01(\tH\x00\x88\x01\x01\x12\x10\n\x03rad\x18\x02 \x01(\x01H\x01\x88\x01\x01\x42\r\n\x0b_joint_nameB\x06\n\x04_rad\"\x9c\x01\n\x1cTouchScreenTaskDevicesConfig\x12\x13\n\x06\x61rm_id\x18\x04 \x01(\tH\x00\x88\x01\x01\x12\x17\n\ndexhand_id\x18\x02 \x01(\tH\x01\x88\x01\x01\x12\x16\n\tcamera_id\x18\x03 \x01(\tH\x02\x88\x01\x01\x42\t\n\x07_arm_idB\r\n\x0b_dexhand_idB\x0c\n\n_camera_idJ\x04\x08\x01\x10\x02R\x08robot_id\"\x8e\x02\n#TouchScreenTaskInitializationConfig\x12\x19\n\x0c\x62\x65\x66ore_start\x18\x01 \x01(\x08H\x00\x88\x01\x01\x12\x19\n\x0c\x61\x66ter_finish\x18\x02 \x01(\x08H\x01\x88\x01\x01\x12?\n\x0fjoint_positions\x18\x03 \x03(\x0b\x32&.cmvr.config.TouchScreenInitJointPoint\x12\x15\n\x08velocity\x18\x04 \x01(\x01H\x02\x88\x01\x01\x12\x19\n\x0c\x61\x63\x63\x65leration\x18\x05 \x01(\x01H\x03\x88\x01\x01\x42\x0f\n\r_before_startB\x0f\n\r_after_finishB\x0b\n\t_velocityB\x0f\n\r_acceleration\"[\n\x1fTouchScreenTaskPerceptionConfig\x12\x38\n\x08\x61priltag\x18\x01 \x01(\x0b\x32&.cmvr.config.TouchScreenApriltagConfig\"\xbc\x01\n TouchScreenAlignmentTargetConfig\x12-\n\x12position_in_camera\x18\x01 \x01(\x0b\x32\x11.cmvr.common.Vec3\x12*\n\x0frotation_vector\x18\x02 \x01(\x0b\x32\x11.cmvr.common.Vec3\x12\x34\n\x04mode\x18\x03 \x01(\x0e\x32!.cmvr.config.TouchScreenAlignModeH\x00\x88\x01\x01\x42\x07\n\x05_mode\"\xdb\x02\n\x1eTouchScreenTaskAlignmentConfig\x12\x30\n\x04ibvs\x18\x02 \x01(\x0b\x32\".cmvr.config.TouchScreenIbvsConfig\x12=\n\x06target\x18\x03 \x01(\x0b\x32-.cmvr.config.TouchScreenAlignmentTargetConfig\x12*\n\x0f\x65rror_threshold\x18\x04 \x01(\x0b\x32\x11.cmvr.common.Vec6\x12\x1a\n\rstable_frames\x18\x05 \x01(\x05H\x00\x88\x01\x01\x12\x16\n\ttimeout_s\x18\x06 \x01(\x01H\x01\x88\x01\x01\x12\x1f\n\x12pause_when_reached\x18\x07 \x01(\x08H\x02\x88\x01\x01\x42\x10\n\x0e_stable_framesB\x0c\n\n_timeout_sB\x15\n\x13_pause_when_reachedJ\x04\x08\x01\x10\x02R\nkinematics\"\xa1\x01\n\x1cTouchScreenTouchSpeedLConfig\x12%\n\ntwist_tool\x18\x01 \x01(\x0b\x32\x11.cmvr.common.Vec6\x12\x19\n\x0c\x61\x63\x63\x65leration\x18\x02 \x01(\x01H\x00\x88\x01\x01\x12\x1b\n\x0emax_distance_m\x18\x03 \x01(\x01H\x01\x88\x01\x01\x42\x0f\n\r_accelerationB\x11\n\x0f_max_distance_m\"\xfb\x01\n\x1bTouchScreenTouchMoveLConfig\x12)\n\x0e\x64irection_tool\x18\x01 \x01(\x0b\x32\x11.cmvr.common.Vec6\x12\x17\n\ndistance_m\x18\x02 \x01(\x01H\x00\x88\x01\x01\x12\x15\n\x08velocity\x18\x03 \x01(\x01H\x01\x88\x01\x01\x12\x19\n\x0c\x61\x63\x63\x65leration\x18\x04 \x01(\x01H\x02\x88\x01\x01\x12\x11\n\x04jerk\x18\x05 \x01(\x01H\x03\x88\x01\x01\x12\x1d\n\x15joint_velocity_limits\x18\x06 \x03(\x01\x42\r\n\x0b_distance_mB\x0b\n\t_velocityB\x0f\n\r_accelerationB\x07\n\x05_jerk\"\xae\x02\n\x1fTouchScreenTactileTriggerConfig\x12\x37\n\x06\x66inger\x18\x01 \x01(\x0e\x32\".cmvr.config.TouchScreenFingerTypeH\x00\x88\x01\x01\x12:\n\x06region\x18\x02 \x01(\x0e\x32%.cmvr.config.TouchScreenTactileRegionH\x01\x88\x01\x01\x12@\n\tcriterion\x18\x03 \x01(\x0e\x32(.cmvr.config.TouchScreenTactileCriterionH\x02\x88\x01\x01\x12\x1c\n\x0f\x66orce_threshold\x18\x04 \x01(\x01H\x03\x88\x01\x01\x42\t\n\x07_fingerB\t\n\x07_regionB\x0c\n\n_criterionB\x12\n\x10_force_threshold\"\x8b\x02\n\x1aTouchScreenTaskTouchConfig\x12<\n\x07speed_l\x18\x01 \x01(\x0b\x32).cmvr.config.TouchScreenTouchSpeedLConfigH\x00\x12:\n\x06move_l\x18\x02 \x01(\x0b\x32(.cmvr.config.TouchScreenTouchMoveLConfigH\x00\x12=\n\x07tactile\x18\x03 \x01(\x0b\x32,.cmvr.config.TouchScreenTactileTriggerConfig\x12\x19\n\x0c\x64well_time_s\x18\x04 \x01(\x01H\x01\x88\x01\x01\x42\x08\n\x06motionB\x0f\n\r_dwell_time_s\"\x99\x01\n\x1cTouchScreenTaskRetractConfig\x12%\n\ntwist_tool\x18\x01 \x01(\x0b\x32\x11.cmvr.common.Vec6\x12\x19\n\x0c\x61\x63\x63\x65leration\x18\x02 \x01(\x01H\x00\x88\x01\x01\x12\x17\n\nduration_s\x18\x03 \x01(\x01H\x01\x88\x01\x01\x42\x0f\n\r_accelerationB\r\n\x0b_duration_s\"\xab\x03\n\x15TouchScreenTaskConfig\x12:\n\x07\x64\x65vices\x18\x01 \x01(\x0b\x32).cmvr.config.TouchScreenTaskDevicesConfig\x12H\n\x0einitialization\x18\x02 \x01(\x0b\x32\x30.cmvr.config.TouchScreenTaskInitializationConfig\x12@\n\nperception\x18\x03 \x01(\x0b\x32,.cmvr.config.TouchScreenTaskPerceptionConfig\x12>\n\talignment\x18\x04 \x01(\x0b\x32+.cmvr.config.TouchScreenTaskAlignmentConfig\x12\x36\n\x05touch\x18\x05 \x01(\x0b\x32\'.cmvr.config.TouchScreenTaskTouchConfig\x12:\n\x07retract\x18\x06 \x01(\x0b\x32).cmvr.config.TouchScreenTaskRetractConfig\x12\x0f\n\x02id\x18\x07 \x01(\tH\x00\x88\x01\x01\x42\x05\n\x03_id\"Z\n\x19TouchScreenTaskRootConfig\x12=\n\x11touch_screen_task\x18\x01 \x01(\x0b\x32\".cmvr.config.TouchScreenTaskConfigb\x06proto3')

_globals = globals()
_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.config.touch_screen_task_config.touch_screen_task_config_pb2', _globals)
if not _descriptor._USE_C_DESCRIPTORS:
  DESCRIPTOR._loaded_options = None
  _globals['_TOUCHSCREENINITJOINTPOINT']._serialized_start=207
  _globals['_TOUCHSCREENINITJOINTPOINT']._serialized_end=300
  _globals['_TOUCHSCREENTASKDEVICESCONFIG']._serialized_start=303
  _globals['_TOUCHSCREENTASKDEVICESCONFIG']._serialized_end=459
  _globals['_TOUCHSCREENTASKINITIALIZATIONCONFIG']._serialized_start=462
  _globals['_TOUCHSCREENTASKINITIALIZATIONCONFIG']._serialized_end=732
  _globals['_TOUCHSCREENTASKPERCEPTIONCONFIG']._serialized_start=734
  _globals['_TOUCHSCREENTASKPERCEPTIONCONFIG']._serialized_end=825
  _globals['_TOUCHSCREENALIGNMENTTARGETCONFIG']._serialized_start=828
  _globals['_TOUCHSCREENALIGNMENTTARGETCONFIG']._serialized_end=1016
  _globals['_TOUCHSCREENTASKALIGNMENTCONFIG']._serialized_start=1019
  _globals['_TOUCHSCREENTASKALIGNMENTCONFIG']._serialized_end=1366
  _globals['_TOUCHSCREENTOUCHSPEEDLCONFIG']._serialized_start=1369
  _globals['_TOUCHSCREENTOUCHSPEEDLCONFIG']._serialized_end=1530
  _globals['_TOUCHSCREENTOUCHMOVELCONFIG']._serialized_start=1533
  _globals['_TOUCHSCREENTOUCHMOVELCONFIG']._serialized_end=1784
  _globals['_TOUCHSCREENTACTILETRIGGERCONFIG']._serialized_start=1787
  _globals['_TOUCHSCREENTACTILETRIGGERCONFIG']._serialized_end=2089
  _globals['_TOUCHSCREENTASKTOUCHCONFIG']._serialized_start=2092
  _globals['_TOUCHSCREENTASKTOUCHCONFIG']._serialized_end=2359
  _globals['_TOUCHSCREENTASKRETRACTCONFIG']._serialized_start=2362
  _globals['_TOUCHSCREENTASKRETRACTCONFIG']._serialized_end=2515
  _globals['_TOUCHSCREENTASKCONFIG']._serialized_start=2518
  _globals['_TOUCHSCREENTASKCONFIG']._serialized_end=2945
  _globals['_TOUCHSCREENTASKROOTCONFIG']._serialized_start=2947
  _globals['_TOUCHSCREENTASKROOTCONFIG']._serialized_end=3037
# @@protoc_insertion_point(module_scope)
