# -*- coding: utf-8 -*-
# Generated by the protocol buffer compiler.  DO NOT EDIT!
# source: bosdyn/api/arm_surface_contact.proto
"""Generated protocol buffer code."""
from google.protobuf import descriptor as _descriptor
from google.protobuf import descriptor_pool as _descriptor_pool
from google.protobuf import message as _message
from google.protobuf import reflection as _reflection
from google.protobuf import symbol_database as _symbol_database
# @@protoc_insertion_point(imports)

_sym_db = _symbol_database.Default()


from bosdyn.api import geometry_pb2 as bosdyn_dot_api_dot_geometry__pb2
from bosdyn.api import gripper_command_pb2 as bosdyn_dot_api_dot_gripper__command__pb2
from bosdyn.api import trajectory_pb2 as bosdyn_dot_api_dot_trajectory__pb2
from bosdyn.api import arm_command_pb2 as bosdyn_dot_api_dot_arm__command__pb2
from google.protobuf import wrappers_pb2 as google_dot_protobuf_dot_wrappers__pb2


DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n$bosdyn/api/arm_surface_contact.proto\x12\nbosdyn.api\x1a\x19\x62osdyn/api/geometry.proto\x1a bosdyn/api/gripper_command.proto\x1a\x1b\x62osdyn/api/trajectory.proto\x1a\x1c\x62osdyn/api/arm_command.proto\x1a\x1egoogle/protobuf/wrappers.proto\"\xbb\x0c\n\x11\x41rmSurfaceContact\x1a\x99\x0c\n\x07Request\x12\x17\n\x0froot_frame_name\x18\x19 \x01(\t\x12-\n\x10wrist_tform_tool\x18\x06 \x01(\x0b\x32\x13.bosdyn.api.SE3Pose\x12,\n\x0froot_tform_task\x18\x1a \x01(\x0b\x32\x13.bosdyn.api.SE3Pose\x12:\n\x17pose_trajectory_in_task\x18\x02 \x01(\x0b\x32\x19.bosdyn.api.SE3Trajectory\x12:\n\x14maximum_acceleration\x18\x03 \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\x12\x39\n\x13max_linear_velocity\x18\x04 \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\x12:\n\x14max_angular_velocity\x18\x05 \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\x12<\n\x16max_pos_tracking_error\x18\x12 \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\x12<\n\x16max_rot_tracking_error\x18\x13 \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\x12\x37\n-force_remain_near_current_joint_configuration\x18\x0f \x01(\x08H\x00\x12\x45\n\x1dpreferred_joint_configuration\x18\x10 \x01(\x0b\x32\x1c.bosdyn.api.ArmJointPositionH\x00\x12>\n\x06x_axis\x18\x08 \x01(\x0e\x32..bosdyn.api.ArmSurfaceContact.Request.AxisMode\x12>\n\x06y_axis\x18\t \x01(\x0e\x32..bosdyn.api.ArmSurfaceContact.Request.AxisMode\x12>\n\x06z_axis\x18\n \x01(\x0e\x32..bosdyn.api.ArmSurfaceContact.Request.AxisMode\x12\x30\n\x16press_force_percentage\x18\x0c \x01(\x0b\x32\x10.bosdyn.api.Vec3\x12N\n\rxy_admittance\x18\x15 \x01(\x0e\x32\x37.bosdyn.api.ArmSurfaceContact.Request.AdmittanceSetting\x12M\n\x0cz_admittance\x18\x16 \x01(\x0e\x32\x37.bosdyn.api.ArmSurfaceContact.Request.AdmittanceSetting\x12^\n\x1dxy_to_z_cross_term_admittance\x18\x11 \x01(\x0e\x32\x37.bosdyn.api.ArmSurfaceContact.Request.AdmittanceSetting\x12.\n\x14\x62ias_force_ewrt_body\x18\x14 \x01(\x0b\x32\x10.bosdyn.api.Vec3\x12?\n\x0fgripper_command\x18\x17 \x01(\x0b\x32&.bosdyn.api.ClawGripperCommand.Request\x12\x1f\n\x17is_robot_following_hand\x18\x18 \x01(\x08\"7\n\x08\x41xisMode\x12\x16\n\x12\x41XIS_MODE_POSITION\x10\x00\x12\x13\n\x0f\x41XIS_MODE_FORCE\x10\x01\"\xcd\x01\n\x11\x41\x64mittanceSetting\x12\x1e\n\x1a\x41\x44MITTANCE_SETTING_UNKNOWN\x10\x00\x12\x1a\n\x16\x41\x44MITTANCE_SETTING_OFF\x10\x01\x12\x1d\n\x19\x41\x44MITTANCE_SETTING_NORMAL\x10\x02\x12\x1c\n\x18\x41\x44MITTANCE_SETTING_LOOSE\x10\x03\x12\x1c\n\x18\x41\x44MITTANCE_SETTING_STIFF\x10\x04\x12!\n\x1d\x41\x44MITTANCE_SETTING_VERY_STIFF\x10\x05\x42\x15\n\x13joint_configurationJ\x04\x08\x01\x10\x02J\x04\x08\x07\x10\x08\x1a\n\n\x08\x46\x65\x65\x64\x62\x61\x63kB\x18\x42\x16\x41rmSurfaceContactProtob\x06proto3')



_ARMSURFACECONTACT = DESCRIPTOR.message_types_by_name['ArmSurfaceContact']
_ARMSURFACECONTACT_REQUEST = _ARMSURFACECONTACT.nested_types_by_name['Request']
_ARMSURFACECONTACT_FEEDBACK = _ARMSURFACECONTACT.nested_types_by_name['Feedback']
_ARMSURFACECONTACT_REQUEST_AXISMODE = _ARMSURFACECONTACT_REQUEST.enum_types_by_name['AxisMode']
_ARMSURFACECONTACT_REQUEST_ADMITTANCESETTING = _ARMSURFACECONTACT_REQUEST.enum_types_by_name['AdmittanceSetting']
ArmSurfaceContact = _reflection.GeneratedProtocolMessageType('ArmSurfaceContact', (_message.Message,), {

  'Request' : _reflection.GeneratedProtocolMessageType('Request', (_message.Message,), {
    'DESCRIPTOR' : _ARMSURFACECONTACT_REQUEST,
    '__module__' : 'bosdyn.api.arm_surface_contact_pb2'
    # @@protoc_insertion_point(class_scope:bosdyn.api.ArmSurfaceContact.Request)
    })
  ,

  'Feedback' : _reflection.GeneratedProtocolMessageType('Feedback', (_message.Message,), {
    'DESCRIPTOR' : _ARMSURFACECONTACT_FEEDBACK,
    '__module__' : 'bosdyn.api.arm_surface_contact_pb2'
    # @@protoc_insertion_point(class_scope:bosdyn.api.ArmSurfaceContact.Feedback)
    })
  ,
  'DESCRIPTOR' : _ARMSURFACECONTACT,
  '__module__' : 'bosdyn.api.arm_surface_contact_pb2'
  # @@protoc_insertion_point(class_scope:bosdyn.api.ArmSurfaceContact)
  })
_sym_db.RegisterMessage(ArmSurfaceContact)
_sym_db.RegisterMessage(ArmSurfaceContact.Request)
_sym_db.RegisterMessage(ArmSurfaceContact.Feedback)

if _descriptor._USE_C_DESCRIPTORS == False:

  DESCRIPTOR._options = None
  DESCRIPTOR._serialized_options = b'B\026ArmSurfaceContactProto'
  _ARMSURFACECONTACT._serialized_start=205
  _ARMSURFACECONTACT._serialized_end=1800
  _ARMSURFACECONTACT_REQUEST._serialized_start=227
  _ARMSURFACECONTACT_REQUEST._serialized_end=1788
  _ARMSURFACECONTACT_REQUEST_AXISMODE._serialized_start=1490
  _ARMSURFACECONTACT_REQUEST_AXISMODE._serialized_end=1545
  _ARMSURFACECONTACT_REQUEST_ADMITTANCESETTING._serialized_start=1548
  _ARMSURFACECONTACT_REQUEST_ADMITTANCESETTING._serialized_end=1753
  _ARMSURFACECONTACT_FEEDBACK._serialized_start=1790
  _ARMSURFACECONTACT_FEEDBACK._serialized_end=1800
# @@protoc_insertion_point(module_scope)