初步完成的规划调试以及场景零点验证更新功能。

README.md

 # Playground
 
-
-
-## Getting started
-
-To make it easy for you to get started with GitLab, here's a list of recommended next steps.
-
-Already a pro? Just edit this README.md and make it your own. Want to make it easy? [Use the template at the bottom](#editing-this-readme)!
-
-## Add your files
-
-- [ ] [Create](https://docs.gitlab.com/ee/user/project/repository/web_editor.html#create-a-file) or [upload](https://docs.gitlab.com/ee/user/project/repository/web_editor.html#upload-a-file) files
-- [ ] [Add files using the command line](https://docs.gitlab.com/ee/gitlab-basics/add-file.html#add-a-file-using-the-command-line) or push an existing Git repository with the following command:
-
-```
-cd existing_repo
-git remote add origin http://gitlab.roboticplus.com:2022/planning/project/playground.git
-git branch -M master
-git push -uf origin master
-```
-
-## Integrate with your tools
-
-- [ ] [Set up project integrations](http://gitlab.roboticplus.com:2022/planning/project/playground/-/settings/integrations)
-
-## Collaborate with your team
-
-- [ ] [Invite team members and collaborators](https://docs.gitlab.com/ee/user/project/members/)
-- [ ] [Create a new merge request](https://docs.gitlab.com/ee/user/project/merge_requests/creating_merge_requests.html)
-- [ ] [Automatically close issues from merge requests](https://docs.gitlab.com/ee/user/project/issues/managing_issues.html#closing-issues-automatically)
-- [ ] [Enable merge request approvals](https://docs.gitlab.com/ee/user/project/merge_requests/approvals/)
-- [ ] [Automatically merge when pipeline succeeds](https://docs.gitlab.com/ee/user/project/merge_requests/merge_when_pipeline_succeeds.html)
-
-## Test and Deploy
-
-Use the built-in continuous integration in GitLab.
-
-- [ ] [Get started with GitLab CI/CD](https://docs.gitlab.com/ee/ci/quick_start/index.html)
-- [ ] [Analyze your code for known vulnerabilities with Static Application Security Testing(SAST)](https://docs.gitlab.com/ee/user/application_security/sast/)
-- [ ] [Deploy to Kubernetes, Amazon EC2, or Amazon ECS using Auto Deploy](https://docs.gitlab.com/ee/topics/autodevops/requirements.html)
-- [ ] [Use pull-based deployments for improved Kubernetes management](https://docs.gitlab.com/ee/user/clusters/agent/)
-- [ ] [Set up protected environments](https://docs.gitlab.com/ee/ci/environments/protected_environments.html)
-
-***
-
-# Editing this README
-
-When you're ready to make this README your own, just edit this file and use the handy template below (or feel free to structure it however you want - this is just a starting point!). Thank you to [makeareadme.com](https://www.makeareadme.com/) for this template.
-
-## Suggestions for a good README
-Every project is different, so consider which of these sections apply to yours. The sections used in the template are suggestions for most open source projects. Also keep in mind that while a README can be too long and detailed, too long is better than too short. If you think your README is too long, consider utilizing another form of documentation rather than cutting out information.
-
-## Name
-Choose a self-explaining name for your project.
-
-## Description
-Let people know what your project can do specifically. Provide context and add a link to any reference visitors might be unfamiliar with. A list of Features or a Background subsection can also be added here. If there are alternatives to your project, this is a good place to list differentiating factors.
-
-## Badges
-On some READMEs, you may see small images that convey metadata, such as whether or not all the tests are passing for the project. You can use Shields to add some to your README. Many services also have instructions for adding a badge.
-
-## Visuals
-Depending on what you are making, it can be a good idea to include screenshots or even a video (you'll frequently see GIFs rather than actual videos). Tools like ttygif can help, but check out Asciinema for a more sophisticated method.
-
-## Installation
-Within a particular ecosystem, there may be a common way of installing things, such as using Yarn, NuGet, or Homebrew. However, consider the possibility that whoever is reading your README is a novice and would like more guidance. Listing specific steps helps remove ambiguity and gets people to using your project as quickly as possible. If it only runs in a specific context like a particular programming language version or operating system or has dependencies that have to be installed manually, also add a Requirements subsection.
-
-## Usage
-Use examples liberally, and show the expected output if you can. It's helpful to have inline the smallest example of usage that you can demonstrate, while providing links to more sophisticated examples if they are too long to reasonably include in the README.
-
-## Support
-Tell people where they can go to for help. It can be any combination of an issue tracker, a chat room, an email address, etc.
-
-## Roadmap
-If you have ideas for releases in the future, it is a good idea to list them in the README.
-
-## Contributing
-State if you are open to contributions and what your requirements are for accepting them.
-
-For people who want to make changes to your project, it's helpful to have some documentation on how to get started. Perhaps there is a script that they should run or some environment variables that they need to set. Make these steps explicit. These instructions could also be useful to your future self.
-
-You can also document commands to lint the code or run tests. These steps help to ensure high code quality and reduce the likelihood that the changes inadvertently break something. Having instructions for running tests is especially helpful if it requires external setup, such as starting a Selenium server for testing in a browser.
-
-## Authors and acknowledgment
-Show your appreciation to those who have contributed to the project.
-
-## License
-For open source projects, say how it is licensed.
-
-## Project status
-If you have run out of energy or time for your project, put a note at the top of the README saying that development has slowed down or stopped completely. Someone may choose to fork your project or volunteer to step in as a maintainer or owner, allowing your project to keep going. You can also make an explicit request for maintainers.
+规划调试软件。python开发，后续可以嵌入到任何
\ No newline at end of file

punch/__init__.py

+import logging
+import sys
+from logging.handlers import RotatingFileHandler
+
+
+def setup_logging(log_file="app.log", show_debug_msg=False, print_console=True):
+    handles = [RotatingFileHandler(log_file, maxBytes=10 * 1024 * 1024, backupCount=10, encoding="utf-8")]
+    if print_console:
+        handles.append(logging.StreamHandler(sys.stdout))
+
+    logging.basicConfig(level=logging.DEBUG if show_debug_msg else logging.INFO,  # 设置日志级别
+        format='%(asctime)s - %(name)s - %(levelname)s - %(message)s',
+        handlers=handles)

punch/plan_client.py

+"""Robot URDF visualizer
+
+Requires yourdfpy and robot_descriptions. Any URDF supported by yourdfpy should work.
+- https://github.com/robot-descriptions/robot_descriptions.py
+- https://github.com/clemense/yourdfpy
+
+The :class:`viser.extras.ViserUrdf` is a lightweight interface between yourdfpy
+and viser. It can also take a path to a local URDF file as input.
+"""
+
+from __future__ import annotations
+
+import json
+import logging
+import math
+import pathlib
+import subprocess
+import tempfile
+import time
+import urllib.parse
+from functools import partial
+from typing import Literal, Optional
+import os
+import io
+
+import numpy as np
+import uvicorn
+import yourdfpy
+
+import viser
+import requests
+from fastapi import FastAPI, File, UploadFile
+from fastapi.responses import FileResponse, PlainTextResponse
+from viser.extras import ViserUrdf
+
+from . import setup_logging
+
+setup_logging("punch.log", print_console=True)
+logger = logging.getLogger(__name__)
+
+app = FastAPI()
+
+
+# 下载文件
+@app.get("/resources/{filename}")
+async def download_file(filename: str):
+    file_path = f"./resources/{filename}"
+    with open(file_path, "r") as file:
+        content = file.read()
+    return PlainTextResponse(content)
+
+
+def make_resource_dir(suffix):
+    os.makedirs("resources", exist_ok=True)
+
+    _, temp_file = tempfile.mkstemp(suffix=suffix)
+
+    return f"resources/{os.path.basename(temp_file)}"
+
+
+def find_all_keys(d, target_key):
+    if isinstance(d, dict):
+        for key, value in d.items():
+            if key == target_key:
+                yield value
+            elif isinstance(value, (dict, list, tuple)):
+                yield from find_all_keys(value, target_key)
+    elif isinstance(d, (list, tuple)):
+        for item in d:
+            yield from find_all_keys(item, target_key)
+
+
+class OperatorModule:
+    def __init__(self, sever: viser.ViserServer):
+        self.upload_param_btn: Optional[viser.GuiUploadButtonHandle] = None
+        self.upload_urdf_btn: Optional[viser.GuiUploadButtonHandle] = None
+        self.server: viser.ViserServer = sever
+
+        self.init_viser_module()
+
+    def init_viser_module(self):
+        self.upload_urdf_btn = self.server.gui.add_upload_button("上传urdf", color="blue")
+        self.upload_param_btn = self.server.gui.add_upload_button("上传规划参数", color="blue")
+
+
+def download_file(fname):
+    try:
+        """ 下载 HTTP 文件并返回本地路径 """
+        response = requests.get(fname, stream=True)
+        if response.status_code != 200:
+            raise ValueError(f"无法下载文件: {fname}, 状态码: {response.status_code}")
+        # 获取文件名（从 URL 提取）
+        local_filename = os.path.basename(fname)
+
+        # 创建临时目录存储文件
+        temp_dir = tempfile.mkdtemp()
+        file_path = os.path.join(temp_dir, local_filename)
+
+        # 写入文件
+        with open(file_path, 'wb') as f:
+            for chunk in response.iter_content(chunk_size=8192):
+                f.write(chunk)
+
+        return file_path
+
+    except Exception as e:
+        path = urllib.parse.urlparse(fname).path
+        return path
+
+
+class PlanModule:
+    def __init__(self, server: viser.ViserServer, urdf_path):
+        self.viser_urdf: Optional[ViserUrdf] = None
+        self.server = server
+        self.urdf: Optional[yourdfpy.URDF] = None
+        self.frame: Optional[viser.FrameHandle] = None
+        self.urdf_path = urdf_path
+
+        self.init_viser_module()
+
+    def init_viser_module(self):
+        self.urdf = yourdfpy.URDF.load(self.urdf_path, filename_handler=download_file)
+
+        self.frame = self.server.scene.add_frame(f"/world/{self.urdf.robot.name}", show_axes=False, visible=True)
+        self.viser_urdf = ViserUrdf(self.server,
+            urdf_or_path=self.urdf,
+            root_node_name=f"/world/{self.urdf.robot.name}"
+        )
+
+        self.viser_urdf.update_cfg(np.array([0.0 for _ in self.urdf.actuated_joints]))
+
+    def add_frame(self, frame_id: str, point):
+        frames = self.viser_urdf._joint_frames
+        parent_frame = [f"{frame.name}/frame" for frame in frames if frame.name.endswith(frame_id)][-1]
+
+        self.server.scene.add_frame(parent_frame, position=np.array(point) * 0.001, axes_length=0.1, axes_radius=0.01)
+
+    def add_box(self, frame_id: str, dimensions):
+        frames = self.viser_urdf._joint_frames
+        parent_frame = [f"{frame.name}" for frame in frames if frame.name.endswith(frame_id)][-1]
+
+        box = np.array(dimensions) * 0.001
+        position = box * 0.5
+        position[1] *= -1
+        self.server.scene.add_box(f"{parent_frame}/box", dimensions=box, position=position, color=(0, 255, 0))
+
+    def set_ext(self, ext_value):
+        joints = self.viser_urdf._urdf.actuated_joints
+        value = ext_value * 0.001
+
+        self.viser_urdf.update_cfg(np.array([value if joint.parent.endswith("zero") else 0.0 for joint in joints]))
+
+    def get_transform(self, frame_to, frame_from):
+        transform = self.viser_urdf._urdf.get_transform(frame_to, frame_from)
+
+        return transform
+
+    def remove(self):
+        self.viser_urdf.remove()
+
+
+class PlanParamModule:
+    def __init__(self, server: viser.ViserServer, plan_param: dict):
+        self.ext_range: list[viser.GuiVector3Handle] = []
+        self.plan_param = plan_param
+        self.plan_btn: Optional[viser.GuiButtonHandle] = None
+        self.rotation: Optional[viser.GuiVector3Handle] = None
+        self.server = server
+        self.folder: Optional[viser.GuiFolderHandle] = None
+
+        self.init_viser_module()
+
+    def add_ext_joint_item(self, index: int):
+        OPTIONS = ["X", "Y", "Z"]
+        ext_joint_param = self.plan_param["#base"]["ext_joint_param"]["external_range"][index]
+        ext_range = (self.server.gui.add_vector3(f"{OPTIONS[index]}范围",
+            initial_value=np.array([ext_joint_param["lower"], ext_joint_param["step"], ext_joint_param["upper"]]),
+            min=np.array([-10, 0, -10]),
+            max=np.array([10, 10, 10]),
+            step=0.2,
+        ))
+        ext_range.precision = 3
+
+        @ext_range.on_update
+        def _(event: viser.GuiEvent):
+            value = event.target.value
+            self.plan_param["#base"]["ext_joint_param"]["external_range"][index]["lower"] = value[0]
+            self.plan_param["#base"]["ext_joint_param"]["external_range"][index]["step"] = value[1]
+            self.plan_param["#base"]["ext_joint_param"]["external_range"][index]["upper"] = value[2]
+
+        self.ext_range.append(ext_range)
+
+    def init_viser_module(self):
+        with self.server.gui.add_folder(self.plan_param["#base"]["id"][26:]) as self.folder:
+            rotation_z = self.plan_param["#base"]["constraints"][0]["rotation"]["z_bound"]
+            self.rotation = self.server.gui.add_vector3("自由度",
+                initial_value=np.degrees(np.array([rotation_z["lower"], rotation_z["step"], rotation_z["upper"]])),
+                min=np.degrees(np.array([-math.pi, 0, -math.pi])),
+                max=np.degrees(np.array([math.pi, 2 * math.pi, math.pi])),
+                step=5.0,
+            )
+            self.add_ext_joint_item(0)
+            self.add_ext_joint_item(1)
+            self.add_ext_joint_item(2)
+
+            self.plan_btn = self.server.gui.add_button("重新规划")
+
+            @self.rotation.on_update
+            def _(_):
+                value = np.radians(self.rotation.value)
+                self.plan_param["#base"]["constraints"][0]["rotation"]["z_bound"]["lower"] = value[0]
+                self.plan_param["#base"]["constraints"][0]["rotation"]["z_bound"]["step"] = value[1]
+                self.plan_param["#base"]["constraints"][0]["rotation"]["z_bound"]["upper"] = value[2]
+
+            self.folder.expand_by_default = False
+
+    def remove(self):
+        self.server.scene.remove_by_name(self.folder.name)
+        self.server.gui.reset()
+
+
+class SimulationModule:
+    def __init__(self, server: viser.ViserServer = None, sim_robot: ViserUrdf = None):
+        self.timestep: Optional[viser.GuiSliderHandle[int]] = None
+        self.play: Optional[viser.GuiButtonHandle] = None
+        self.prev_frame: Optional[viser.GuiButtonHandle] = None
+        self.next_frame: Optional[viser.GuiButtonHandle] = None
+        self.trajectory: Optional[dict] = None
+        self.sim_robot: ViserUrdf = sim_robot
+
+        self.tool: Optional[viser.MeshHandle] = None
+        self.workpiece: Optional[viser.MeshHandle] = None
+
+        self.server = server
+
+    @property
+    def server(self) -> viser.ViserServer:
+        return self._server
+
+    @server.setter
+    def server(self, server: viser.ViserServer):
+        if server is not None:
+            self._server = server
+            self.init_viser_module()
+
+    def init_viser_module(self):
+        with self.server.gui.add_folder("Simulation") as self.folder:
+            self.timestep = self.server.gui.add_slider(
+                "Timestep",
+                min=0,
+                max=1,
+                step=1,
+                initial_value=0,
+                disabled=False,
+            )
+
+            self.next_frame = self.server.gui.add_button("Next Frame")
+            self.prev_frame = self.server.gui.add_button("Prev Frame")
+            self.play = self.server.gui.add_button("Play")
+
+            @self.next_frame.on_click
+            def _(_):
+                self.timestep.value = min(self.timestep.value + 1, int(self.timestep.max))
+
+            @self.prev_frame.on_click
+            def _(_):
+                self.timestep.value = max(self.timestep.value - 1, 0)
+
+            @self.play.on_click
+            def _(_):
+                self.replay_trajectory()
+
+            @self.timestep.on_update
+            def _(_):
+                self.update_robot(int(self.timestep.value))
+
+            self.folder.expand_by_default = False
+
+    def update_robot(self, index):
+        joint_names: list[str] = self.trajectory["joint_names"]
+        trajectory: list[float] = self.trajectory["trajectory"][index]["position"]
+        self.sim_robot.update_cfg(
+            np.array([trajectory[joint_names.index(joint.name)] for joint in self.sim_robot._urdf.actuated_joints]))
+
+    def replay_trajectory(self):
+        for i in range(len(self.trajectory["trajectory"])):
+            self.update_robot(i)
+            time.sleep(0.1)
+
+    def set_trajectory(self, trajectory: dict):
+        self.trajectory = trajectory
+
+        self.timestep.max = len(self.trajectory["trajectory"]) - 1
+
+    def load_param(self, plan_param):
+        """
+        通过规划参数加载起始状态，以及工件工具头。
+        :param plan_param:
+        :return:
+        """
+
+        frames = self.sim_robot._joint_frames
+        tool = plan_param["#base"]["tool_mesh"]
+        tool_shape = tool["shape"]
+        workpiece = plan_param["#base"]["workpiece_mesh"]
+        wp_mesh = workpiece["shape"]
+        tool_frame = [f"{frame.name}/{tool['name']}" for frame in frames if frame.name.endswith(tool['frame_id'])][-1]
+        wp_frame = \
+            [f"{frame.name}/{workpiece['name']}" for frame in frames if frame.name.endswith(workpiece['frame_id'])][-1]
+        self.tool = self.server.scene.add_mesh_simple(tool_frame, np.array(tool_shape["vertices_m"]).T,
+            np.array(tool_shape["face_m"]).T)
+        self.workpiece = self.server.scene.add_mesh_simple(wp_frame, np.array(wp_mesh["vertices_m"]).T,
+            np.array(wp_mesh["face_m"]).T)
+
+
+class Punch:
+    def __init__(self):
+        self.server = viser.ViserServer(label="Punch一拳")
+
+        self.operator = OperatorModule(self.server)
+
+        self.simulation = SimulationModule()
+        self.plan_module: Optional[PlanModule] = None
+        self.plan_param_module: Optional[PlanParamModule] = None
+
+        self.init_viser()
+
+    def init_viser(self):
+        self.server.scene.add_grid("/world")
+
+        self.server.gui.configure_theme(control_width="large")
+
+        @self.operator.upload_urdf_btn.on_upload
+        def _(event):
+            """Callback for when a file is uploaded."""
+            file = self.operator.upload_urdf_btn.value
+
+            file_path = make_resource_dir(".urdf")
+
+            open(file_path, "wb").write(file.content)
+
+            self.plan_module = PlanModule(event.client, file_path)
+
+            self.simulation.sim_robot = self.plan_module.viser_urdf
+            self.simulation.server = self.plan_module.server
+
+        @self.operator.upload_param_btn.on_upload
+        def _(event):
+            """Callback for when a file is uploaded."""
+            file = self.operator.upload_param_btn.value
+
+            file_path = make_resource_dir(".json")
+
+            self.plan_param_module = PlanParamModule(event.client, json.loads(file.content))
+
+            self.simulation.load_param(self.plan_param_module.plan_param)
+
+            @self.plan_param_module.plan_btn.on_click
+            def _(_):
+                json.dump(self.plan_param_module.plan_param, open(file_path, "w"))
+
+                res = requests.get(
+                    f"http://127.0.0.1:12123/plan?urdf={self.plan_module.urdf_path}&param={file_path}")
+
+                self.simulation.set_trajectory(res.json())
+
+    def run(self):
+        while True:
+            time.sleep(0.1)
+
+
+def main() -> None:
+    process = subprocess.Popen(
+        ["uvicorn", "run:app", "--host", "127.0.0.1", "--port", "8000", "--reload"],
+        stdout=subprocess.PIPE,
+        stderr=subprocess.PIPE,
+    )
+
+    punch = Punch()
+
+    punch.run()
+
+
+if __name__ == "__main__":
+    main()

punch/plan_scene_updater.py

+from datetime import datetime
+import io
+import json
+import os
+import shutil
+import time
+import zipfile
+from typing import Optional
+
+import numpy as np
+import urdf_parser_py.urdf
+import viser
+
+from punch.plan_client import PlanModule
+from robim_data import Workshop
+from .urdf import URDFRobot
+
+
+def unzip_pes(pes_file: str, extract_path: str):
+    os.makedirs(extract_path, exist_ok=True)
+    with zipfile.ZipFile(pes_file, 'r') as zip_ref:
+        zip_ref.extractall(extract_path)
+
+
+class PesScene:
+    def __init__(self, resource_dir: str):
+        self.workshop = Workshop()
+        self.resource_dir = resource_dir
+        self.scene = json.load(open(f"{resource_dir}/scene.json"))
+
+        self.name = self.scene["name"]
+
+        # 读取二进制文件
+        with open(f"{resource_dir}/workshop.proto", "rb") as f:
+            data = f.read()
+
+        self.workshop.ParseFromString(data)
+        self._urdf = None
+
+        self.urdf = self.workshop.urdf
+
+        self.urdf_robot: URDFRobot = URDFRobot.from_xml_string(self.urdf)
+
+        self.attached = [link.name for link in self.urdf_robot.links if link.name.endswith("attached")][-1]
+        self.robot_base = [link.name for link in self.urdf_robot.links if link.name.endswith("base")][-1]
+
+        self.update_name()
+
+        self.urdf_robot.name = self.name
+        self.scene["name"] = self.name
+
+    def update_name(self):
+        self.name = self.scene["name"]
+        # 找到最后一个下划线的位置
+        pos = self.name.rfind("_")
+
+        date_str = datetime.now().strftime("%y%m%d")
+        # 如果找到下划线，则进行替换
+        if pos != -1:
+            self.name = self.name[:pos + 1] + date_str
+        else:
+            self.name = self.name + "_" + date_str  # 没有下划线则不做修改
+
+    @property
+    def urdf(self):
+        return self._urdf
+
+    @urdf.setter
+    def urdf(self, value):
+        self._urdf = value
+
+        self.workshop.urdf = value
+        self.scene['rpcpUrdf'] = value
+
+    def save(self):
+        open(f"{self.resource_dir}/scene.json", "w").write(json.dumps(self.scene))
+        open(f"{self.resource_dir}/workshop.proto", "wb").write(self.workshop.SerializeToString())
+
+    def zip(self):
+        pes_file = f"{os.path.dirname(self.resource_dir)}/{self.name}.pes"
+        with zipfile.ZipFile(pes_file, "w", zipfile.ZIP_DEFLATED,
+                allowZip64=True) as zip_ref:
+            for root, dirs, files in os.walk(self.resource_dir):
+                for file in files:
+                    file_path = os.path.join(root, file)
+                    arcname = os.path.relpath(file_path, self.resource_dir)  # 相对路径
+                    zip_ref.write(file_path, arcname)
+
+        return pes_file
+
+
+class PointDataModule:
+    def __init__(self, server: viser.ViserServer):
+        self.server = server
+        self.folder: Optional[viser.GuiFolderHandle] = None
+
+        self.point_data: list[tuple[viser.GuiVector3Handle, viser.GuiNumberHandle]] = []
+
+        self.init_viser_module()
+
+    def init_viser_module(self):
+        with self.server.gui.add_folder("戳点数据") as self.folder:
+            self.folder.expand_by_default = True
+
+        self.add_point()
+
+    def add_point(self):
+        with self.folder:
+            self.point_data.append((
+                self.server.gui.add_vector3(f"机器人戳点{len(self.point_data)}",
+                    initial_value=np.array([829.819, -561.124, 612.729]),
+                    step=100),
+                self.server.gui.add_number(f"外部轴值{len(self.point_data)}", initial_value=-525.008, step=100.0),))
+
+            self.point_data[-1][0].precision = 3
+            self.point_data[-1][1].precision = 3
+
+    def remove_point(self):
+        if len(self.point_data) == 0:
+            return
+        point_data = self.point_data[-1]
+        point_data[0].visible = False
+        point_data[1].visible = False
+
+        self.point_data.pop()
+
+
+class CalibrationResultModule:
+    def __init__(self, server: viser.ViserServer):
+        self.server = server
+        self.calc_btn: Optional[viser.GuiButtonHandle] = None
+        self.xyz: Optional[viser.GuiVector3Handle] = None
+        self.diff: Optional[viser.GuiVector3Handle] = None
+        self.apply_btns: Optional[viser.GuiButtonGroupHandle] = None
+        self.download: Optional[viser.GuiButtonHandle] = None
+
+        self.init_viser_module()
+
+    def init_viser_module(self):
+        with self.server.gui.add_folder("标定结果") as self.folder:
+            self.calc_btn = self.server.gui.add_button("计算")
+            self.xyz = self.server.gui.add_vector3("计算结果", initial_value=np.array([0, 0, 0]))
+            self.xyz.precision = 3
+            self.diff = self.server.gui.add_vector3("偏差", initial_value=np.array([0, 0, 0]))
+            self.diff.precision = 3
+            self.apply_btns = self.server.gui.add_button_group("应用", options=["X", "Y", "Z"])
+            self.download = self.server.gui.add_button("下载", disabled=True)
+
+
+class OperatorModule:
+    def __init__(self, sever: viser.ViserServer):
+        self.add_remove: Optional[viser.GuiButtonGroupHandle] = None
+        self.workpiece_info: Optional[viser.GuiVector3Handle] = None
+        self.update_pes_btn: Optional[viser.GuiUploadButtonHandle] = None
+        self.server: viser.ViserServer = sever
+
+        self.init_viser_module()
+
+    def init_viser_module(self):
+        self.update_pes_btn = self.server.gui.add_upload_button("上传场景", color="blue")
+
+        self.workpiece_info = self.server.gui.add_vector3("工件尺寸", initial_value=np.array([1000, 200, 50]),
+            min=np.array([0, 0, 0]), max=np.array([1e10, 1e10, 1e10]), step=100, hint="工件尺寸")
+        self.workpiece_info.precision = 3
+
+        self.add_remove = self.server.gui.add_button_group("操作", ["+", "-"])
+
+
+class PlanSceneUpdater:
+    def __init__(self):
+        self.server = viser.ViserServer(label="场景更新工具")
+
+        self.operator_module = OperatorModule(self.server)
+
+        self.scene_modules: dict[viser.ClientHandle, PesScene] = {}
+
+        self.plan_modules: dict[viser.ClientHandle, PlanModule] = {}
+
+        self.point_data_modules: dict[viser.ClientHandle, PointDataModule] = {}
+        self.result_modules: dict[viser.ClientHandle, CalibrationResultModule] = {}
+
+        self.initialize()
+
+        @self.server.on_client_connect
+        def _(client: viser.ClientHandle):
+            self.point_data_modules[client] = PointDataModule(client)
+            self.result_modules[client] = CalibrationResultModule(client)
+
+            @self.result_modules[client].calc_btn.on_click
+            def _(event: viser.GuiEvent):
+                self.process_scene(client=client, )
+                scene = self.scene_modules[client]
+                transform = self.plan_modules[client].get_transform(scene.robot_base, scene.attached)
+
+                point = self.point_data_modules[client].point_data[-1][0].value
+                workpiece_dimensions = np.array(self.operator_module.workpiece_info.value)
+
+                calc_point = transform[:3, :3] @ point + transform[:3, 3] * 1000
+
+                # 获取世界坐标系的变换
+                transform = self.plan_modules[client].get_transform(scene.attached, "base_link")
+
+                workpiece_dimensions[1] *= -1
+                self.result_modules[client].xyz.value = calc_point
+                diff = workpiece_dimensions - calc_point
+                diff = transform[:3, :3] @ diff
+                self.result_modules[client].diff.value = diff
+
+            @self.result_modules[client].apply_btns.on_click
+            def _(event: viser.GuiEvent):
+                scene = self.scene_modules[client]
+                parent_map = scene.urdf_robot.parent_map
+
+                need_to_update = parent_map[parent_map[parent_map[scene.attached][-1]][-1]][0]
+
+                need_to_update = scene.urdf_robot.joint_map[need_to_update]
+                btn = self.result_modules[client].apply_btns
+                index = btn.options.index(btn.value)
+                need_to_update.origin.position[index] -= self.result_modules[client].diff.value[index] * 0.001
+
+                scene.urdf = scene.urdf_robot.to_xml_string()
+
+                self.plan_modules[event.client].remove()
+                self.plan_modules[event.client] = PlanModule(event.client,
+                    io.BytesIO(self.scene_modules[event.client].urdf.encode()))
+                self.process_scene(client=client)
+                self.result_modules[client].download.disabled = False
+
+            @self.result_modules[client].download.on_click
+            def _(event: viser.GuiEvent):
+                self.scene_modules[client].save()
+                file = self.scene_modules[client].zip()
+                client.send_file_download(f"{self.scene_modules[client].name}.pes", open(file, "rb").read())
+
+    def process_scene(self, client: viser.ClientHandle):
+        point = self.point_data_modules[client].point_data[-1][0].value
+        workpiece_dimensions = self.operator_module.workpiece_info.value
+        self.plan_modules[client].add_box(self.scene_modules[client].attached, workpiece_dimensions)
+        self.plan_modules[client].add_frame(self.scene_modules[client].robot_base, point)
+        self.plan_modules[client].set_ext(self.point_data_modules[client].point_data[-1][1].value)
+
+    def initialize(self):
+        self.server.scene.add_grid("/world")
+
+        self.server.gui.configure_theme(control_width="large")
+
+        @self.operator_module.update_pes_btn.on_upload
+        def _(event: viser.GuiEvent):
+            """Callback for when a file is uploaded."""
+            file = self.operator_module.update_pes_btn.value
+
+            open(f"resources/{file.name}", "wb").write(file.content)
+
+            resource_dir = f"resources/{os.path.splitext(file.name)[0]}"
+
+            shutil.rmtree(resource_dir, ignore_errors=True)
+
+            unzip_pes(f"resources/{file.name}", resource_dir)
+
+            self.scene_modules[event.client] = PesScene(resource_dir)
+
+            self.plan_modules[event.client] = PlanModule(event.client,
+                io.BytesIO(self.scene_modules[event.client].urdf.encode()))
+
+        @self.operator_module.add_remove.on_click
+        def _(event: viser.GuiEvent):
+            if self.operator_module.add_remove.value == '+':
+                self.point_data_modules[event.client].add_point()
+            else:
+                self.point_data_modules[event.client].remove_point()
+
+    @staticmethod
+    def run():
+        while True:
+            time.sleep(0.1)
+
+
+def main():
+    updater = PlanSceneUpdater()
+    updater.run()

punch/urdf.py

+from urdf_parser_py.urdf import Robot, name_attribute, Link, Joint, Material
+import urdf_parser_py.xml_reflection as xmlr
+
+xmlr.start_namespace('urdf')
+
+
+class RobotType(xmlr.Object):
+    def __init__(self, name=None, value=None):
+        self.name = name
+        self.value = value
+
+    def check_valid(self):
+        pass
+
+
+xmlr.reflect(RobotType, tag='robot_type', params=[
+    name_attribute,
+    xmlr.Attribute('value', str),
+])
+
+
+class URDFRobot(Robot):
+    def __init__(self, name=None, version="1.0"):
+        super(URDFRobot, self).__init__(name, version)
+
+        self.robot_types: list = []
+
+
+xmlr.reflect(URDFRobot, tag='robot', params=[
+    xmlr.Attribute('name', str),
+    xmlr.Attribute('version', str, False),
+    xmlr.AggregateElement('link', Link),
+    xmlr.AggregateElement('joint', Joint),
+    xmlr.AggregateElement('gazebo', xmlr.RawType()),
+    xmlr.AggregateElement('material', Material),
+    xmlr.AggregateElement('robot_type', RobotType),
+])
+xmlr.end_namespace()

robim_data/ArcWeldingCraft_pb2.py

+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# source: ArcWeldingCraft.proto
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+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()
+
+
+
+
+DESCRIPTOR = _descriptor.FileDescriptor(
+  name='ArcWeldingCraft.proto',
+  package='Robim.Data.ArcWeldingCraft',
+  syntax='proto3',
+  serialized_options=b'P\001\252\002\032Robim.Data.ArcWeldingCraft',
+  create_key=_descriptor._internal_create_key,
+  serialized_pb=b'\n\x15\x41rcWeldingCraft.proto\x12\x1aRobim.Data.ArcWeldingCraft\"\"\n\x07MatrixF\x12\x0c\n\x04\x63ols\x18\x01 \x01(\r\x12\t\n\x01m\x18\x02 \x03(\x02\"n\n\tAngleData\x12\x12\n\ndefaultVal\x18\x01 \x01(\x02\x12\x14\n\x0cminMaxThresh\x18\x02 \x03(\x02\x12\x14\n\x0cpriorityFlag\x18\x03 \x01(\x05\x12\x0e\n\x06weight\x18\x04 \x01(\x02\x12\x11\n\tuseThresh\x18\x05 \x01(\x08\"\x90\x01\n\nPtPosParam\x12\x0e\n\x06ptType\x18\x01 \x01(\r\x12\r\n\x05iLIdx\x18\x02 \x01(\r\x12\x13\n\x0breferPtFlag\x18\x03 \x01(\r\x12\x10\n\x08ptOffset\x18\x04 \x03(\x02\x12\x14\n\x0clenthTorefer\x18\x05 \x01(\x02\x12\x11\n\tfixAngles\x18\x06 \x03(\x02\x12\x13\n\x0buseFixedPos\x18\x07 \x01(\x08\"\x8f\x02\n\x0eWsWeldPosParam\x12\r\n\x05wsIdx\x18\x01 \x01(\r\x12;\n\x0c\x61\x64vanceAngle\x18\x02 \x01(\x0b\x32%.Robim.Data.ArcWeldingCraft.AngleData\x12\x38\n\tworkAngle\x18\x03 \x01(\x0b\x32%.Robim.Data.ArcWeldingCraft.AngleData\x12\x37\n\x08rotAngle\x18\x04 \x01(\x0b\x32%.Robim.Data.ArcWeldingCraft.AngleData\x12>\n\x0ewsWeldSovParam\x18\x05 \x03(\x0b\x32&.Robim.Data.ArcWeldingCraft.PtPosParam\"\xba\x01\n\x0cWeldPtPosRes\x12\x0e\n\x06ptType\x18\x01 \x01(\r\x12\r\n\x05iLIdx\x18\x02 \x01(\r\x12\x13\n\x0breferPtFlag\x18\x03 \x01(\r\x12\x10\n\x08ptOffset\x18\x04 \x03(\x02\x12\x14\n\x0clenthTorefer\x18\x05 \x01(\x02\x12\x11\n\tanglePose\x18\x06 \x03(\x02\x12;\n\x0etoolPosInModel\x18\x07 \x03(\x0b\x32#.Robim.Data.ArcWeldingCraft.MatrixF\"]\n\x0cWsWeldPosRes\x12\r\n\x05wsIdx\x18\x01 \x01(\r\x12>\n\x0cwsWeldSovRes\x18\x02 \x03(\x0b\x32(.Robim.Data.ArcWeldingCraft.WeldPtPosResB\x1fP\x01\xaa\x02\x1aRobim.Data.ArcWeldingCraftb\x06proto3'
+)
+
+
+
+
+_MATRIXF = _descriptor.Descriptor(
+  name='MatrixF',
+  full_name='Robim.Data.ArcWeldingCraft.MatrixF',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='cols', full_name='Robim.Data.ArcWeldingCraft.MatrixF.cols', index=0,
+      number=1, type=13, cpp_type=3, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='m', full_name='Robim.Data.ArcWeldingCraft.MatrixF.m', index=1,
+      number=2, type=2, cpp_type=6, label=3,
+      has_default_value=False, default_value=[],
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=53,
+  serialized_end=87,
+)
+
+
+_ANGLEDATA = _descriptor.Descriptor(
+  name='AngleData',
+  full_name='Robim.Data.ArcWeldingCraft.AngleData',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='defaultVal', full_name='Robim.Data.ArcWeldingCraft.AngleData.defaultVal', index=0,
+      number=1, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='minMaxThresh', full_name='Robim.Data.ArcWeldingCraft.AngleData.minMaxThresh', index=1,
+      number=2, type=2, cpp_type=6, label=3,
+      has_default_value=False, default_value=[],
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='priorityFlag', full_name='Robim.Data.ArcWeldingCraft.AngleData.priorityFlag', index=2,
+      number=3, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='weight', full_name='Robim.Data.ArcWeldingCraft.AngleData.weight', index=3,
+      number=4, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='useThresh', full_name='Robim.Data.ArcWeldingCraft.AngleData.useThresh', index=4,
+      number=5, type=8, cpp_type=7, label=1,
+      has_default_value=False, default_value=False,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=89,
+  serialized_end=199,
+)
+
+
+_PTPOSPARAM = _descriptor.Descriptor(
+  name='PtPosParam',
+  full_name='Robim.Data.ArcWeldingCraft.PtPosParam',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='ptType', full_name='Robim.Data.ArcWeldingCraft.PtPosParam.ptType', index=0,
+      number=1, type=13, cpp_type=3, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='iLIdx', full_name='Robim.Data.ArcWeldingCraft.PtPosParam.iLIdx', index=1,
+      number=2, type=13, cpp_type=3, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='referPtFlag', full_name='Robim.Data.ArcWeldingCraft.PtPosParam.referPtFlag', index=2,
+      number=3, type=13, cpp_type=3, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='ptOffset', full_name='Robim.Data.ArcWeldingCraft.PtPosParam.ptOffset', index=3,
+      number=4, type=2, cpp_type=6, label=3,
+      has_default_value=False, default_value=[],
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='lenthTorefer', full_name='Robim.Data.ArcWeldingCraft.PtPosParam.lenthTorefer', index=4,
+      number=5, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='fixAngles', full_name='Robim.Data.ArcWeldingCraft.PtPosParam.fixAngles', index=5,
+      number=6, type=2, cpp_type=6, label=3,
+      has_default_value=False, default_value=[],
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='useFixedPos', full_name='Robim.Data.ArcWeldingCraft.PtPosParam.useFixedPos', index=6,
+      number=7, type=8, cpp_type=7, label=1,
+      has_default_value=False, default_value=False,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=202,
+  serialized_end=346,
+)
+
+
+_WSWELDPOSPARAM = _descriptor.Descriptor(
+  name='WsWeldPosParam',
+  full_name='Robim.Data.ArcWeldingCraft.WsWeldPosParam',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='wsIdx', full_name='Robim.Data.ArcWeldingCraft.WsWeldPosParam.wsIdx', index=0,
+      number=1, type=13, cpp_type=3, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='advanceAngle', full_name='Robim.Data.ArcWeldingCraft.WsWeldPosParam.advanceAngle', index=1,
+      number=2, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='workAngle', full_name='Robim.Data.ArcWeldingCraft.WsWeldPosParam.workAngle', index=2,
+      number=3, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='rotAngle', full_name='Robim.Data.ArcWeldingCraft.WsWeldPosParam.rotAngle', index=3,
+      number=4, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='wsWeldSovParam', full_name='Robim.Data.ArcWeldingCraft.WsWeldPosParam.wsWeldSovParam', index=4,
+      number=5, type=11, cpp_type=10, label=3,
+      has_default_value=False, default_value=[],
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=349,
+  serialized_end=620,
+)
+
+
+_WELDPTPOSRES = _descriptor.Descriptor(
+  name='WeldPtPosRes',
+  full_name='Robim.Data.ArcWeldingCraft.WeldPtPosRes',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='ptType', full_name='Robim.Data.ArcWeldingCraft.WeldPtPosRes.ptType', index=0,
+      number=1, type=13, cpp_type=3, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='iLIdx', full_name='Robim.Data.ArcWeldingCraft.WeldPtPosRes.iLIdx', index=1,
+      number=2, type=13, cpp_type=3, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='referPtFlag', full_name='Robim.Data.ArcWeldingCraft.WeldPtPosRes.referPtFlag', index=2,
+      number=3, type=13, cpp_type=3, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='ptOffset', full_name='Robim.Data.ArcWeldingCraft.WeldPtPosRes.ptOffset', index=3,
+      number=4, type=2, cpp_type=6, label=3,
+      has_default_value=False, default_value=[],
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='lenthTorefer', full_name='Robim.Data.ArcWeldingCraft.WeldPtPosRes.lenthTorefer', index=4,
+      number=5, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='anglePose', full_name='Robim.Data.ArcWeldingCraft.WeldPtPosRes.anglePose', index=5,
+      number=6, type=2, cpp_type=6, label=3,
+      has_default_value=False, default_value=[],
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='toolPosInModel', full_name='Robim.Data.ArcWeldingCraft.WeldPtPosRes.toolPosInModel', index=6,
+      number=7, type=11, cpp_type=10, label=3,
+      has_default_value=False, default_value=[],
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=623,
+  serialized_end=809,
+)
+
+
+_WSWELDPOSRES = _descriptor.Descriptor(
+  name='WsWeldPosRes',
+  full_name='Robim.Data.ArcWeldingCraft.WsWeldPosRes',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='wsIdx', full_name='Robim.Data.ArcWeldingCraft.WsWeldPosRes.wsIdx', index=0,
+      number=1, type=13, cpp_type=3, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='wsWeldSovRes', full_name='Robim.Data.ArcWeldingCraft.WsWeldPosRes.wsWeldSovRes', index=1,
+      number=2, type=11, cpp_type=10, label=3,
+      has_default_value=False, default_value=[],
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=811,
+  serialized_end=904,
+)
+
+_WSWELDPOSPARAM.fields_by_name['advanceAngle'].message_type = _ANGLEDATA
+_WSWELDPOSPARAM.fields_by_name['workAngle'].message_type = _ANGLEDATA
+_WSWELDPOSPARAM.fields_by_name['rotAngle'].message_type = _ANGLEDATA
+_WSWELDPOSPARAM.fields_by_name['wsWeldSovParam'].message_type = _PTPOSPARAM
+_WELDPTPOSRES.fields_by_name['toolPosInModel'].message_type = _MATRIXF
+_WSWELDPOSRES.fields_by_name['wsWeldSovRes'].message_type = _WELDPTPOSRES
+DESCRIPTOR.message_types_by_name['MatrixF'] = _MATRIXF
+DESCRIPTOR.message_types_by_name['AngleData'] = _ANGLEDATA
+DESCRIPTOR.message_types_by_name['PtPosParam'] = _PTPOSPARAM
+DESCRIPTOR.message_types_by_name['WsWeldPosParam'] = _WSWELDPOSPARAM
+DESCRIPTOR.message_types_by_name['WeldPtPosRes'] = _WELDPTPOSRES
+DESCRIPTOR.message_types_by_name['WsWeldPosRes'] = _WSWELDPOSRES
+_sym_db.RegisterFileDescriptor(DESCRIPTOR)
+
+MatrixF = _reflection.GeneratedProtocolMessageType('MatrixF', (_message.Message,), {
+  'DESCRIPTOR' : _MATRIXF,
+  '__module__' : 'ArcWeldingCraft_pb2'
+  # @@protoc_insertion_point(class_scope:Robim.Data.ArcWeldingCraft.MatrixF)
+  })
+_sym_db.RegisterMessage(MatrixF)
+
+AngleData = _reflection.GeneratedProtocolMessageType('AngleData', (_message.Message,), {
+  'DESCRIPTOR' : _ANGLEDATA,
+  '__module__' : 'ArcWeldingCraft_pb2'
+  # @@protoc_insertion_point(class_scope:Robim.Data.ArcWeldingCraft.AngleData)
+  })
+_sym_db.RegisterMessage(AngleData)
+
+PtPosParam = _reflection.GeneratedProtocolMessageType('PtPosParam', (_message.Message,), {
+  'DESCRIPTOR' : _PTPOSPARAM,
+  '__module__' : 'ArcWeldingCraft_pb2'
+  # @@protoc_insertion_point(class_scope:Robim.Data.ArcWeldingCraft.PtPosParam)
+  })
+_sym_db.RegisterMessage(PtPosParam)
+
+WsWeldPosParam = _reflection.GeneratedProtocolMessageType('WsWeldPosParam', (_message.Message,), {
+  'DESCRIPTOR' : _WSWELDPOSPARAM,
+  '__module__' : 'ArcWeldingCraft_pb2'
+  # @@protoc_insertion_point(class_scope:Robim.Data.ArcWeldingCraft.WsWeldPosParam)
+  })
+_sym_db.RegisterMessage(WsWeldPosParam)
+
+WeldPtPosRes = _reflection.GeneratedProtocolMessageType('WeldPtPosRes', (_message.Message,), {
+  'DESCRIPTOR' : _WELDPTPOSRES,
+  '__module__' : 'ArcWeldingCraft_pb2'
+  # @@protoc_insertion_point(class_scope:Robim.Data.ArcWeldingCraft.WeldPtPosRes)
+  })
+_sym_db.RegisterMessage(WeldPtPosRes)
+
+WsWeldPosRes = _reflection.GeneratedProtocolMessageType('WsWeldPosRes', (_message.Message,), {
+  'DESCRIPTOR' : _WSWELDPOSRES,
+  '__module__' : 'ArcWeldingCraft_pb2'
+  # @@protoc_insertion_point(class_scope:Robim.Data.ArcWeldingCraft.WsWeldPosRes)
+  })
+_sym_db.RegisterMessage(WsWeldPosRes)
+
+
+DESCRIPTOR._options = None
+# @@protoc_insertion_point(module_scope)

robim_data/Common_pb2.py

+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# source: Common.proto
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+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 google.protobuf import any_pb2 as google_dot_protobuf_dot_any__pb2
+from google.protobuf import timestamp_pb2 as google_dot_protobuf_dot_timestamp__pb2
+
+
+DESCRIPTOR = _descriptor.FileDescriptor(
+  name='Common.proto',
+  package='Robim.Data.Common',
+  syntax='proto3',
+  serialized_options=b'P\001\252\002\021Robim.Data.Common',
+  create_key=_descriptor._internal_create_key,
+  serialized_pb=b'\n\x0c\x43ommon.proto\x12\x11Robim.Data.Common\x1a\x19google/protobuf/any.proto\x1a\x1fgoogle/protobuf/timestamp.proto\"(\n\tParameter\x12\x0c\n\x04name\x18\x01 \x01(\t\x12\r\n\x05value\x18\x02 \x01(\tB\x16P\x01\xaa\x02\x11Robim.Data.Commonb\x06proto3'
+  ,
+  dependencies=[google_dot_protobuf_dot_any__pb2.DESCRIPTOR,google_dot_protobuf_dot_timestamp__pb2.DESCRIPTOR,])
+
+
+
+
+_PARAMETER = _descriptor.Descriptor(
+  name='Parameter',
+  full_name='Robim.Data.Common.Parameter',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='name', full_name='Robim.Data.Common.Parameter.name', index=0,
+      number=1, type=9, cpp_type=9, label=1,
+      has_default_value=False, default_value=b"".decode('utf-8'),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='value', full_name='Robim.Data.Common.Parameter.value', index=1,
+      number=2, type=9, cpp_type=9, label=1,
+      has_default_value=False, default_value=b"".decode('utf-8'),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=95,
+  serialized_end=135,
+)
+
+DESCRIPTOR.message_types_by_name['Parameter'] = _PARAMETER
+_sym_db.RegisterFileDescriptor(DESCRIPTOR)
+
+Parameter = _reflection.GeneratedProtocolMessageType('Parameter', (_message.Message,), {
+  'DESCRIPTOR' : _PARAMETER,
+  '__module__' : 'Common_pb2'
+  # @@protoc_insertion_point(class_scope:Robim.Data.Common.Parameter)
+  })
+_sym_db.RegisterMessage(Parameter)
+
+
+DESCRIPTOR._options = None
+# @@protoc_insertion_point(module_scope)

robim_data/Display_pb2.py

+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# source: Display.proto
+"""Generated protocol buffer code."""
+from google.protobuf.internal import enum_type_wrapper
+from google.protobuf import descriptor as _descriptor
+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()
+
+
+import Math_pb2 as Math__pb2
+import Geometry_pb2 as Geometry__pb2
+
+
+DESCRIPTOR = _descriptor.FileDescriptor(
+  name='Display.proto',
+  package='Robim.Data.Display',
+  syntax='proto3',
+  serialized_options=b'P\001\252\002\022Robim.Data.Display',
+  create_key=_descriptor._internal_create_key,
+  serialized_pb=b'\n\rDisplay.proto\x12\x12Robim.Data.Display\x1a\nMath.proto\x1a\x0eGeometry.proto\"3\n\x05\x43olor\x12\t\n\x01r\x18\x01 \x01(\x05\x12\t\n\x01g\x18\x02 \x01(\x05\x12\t\n\x01\x62\x18\x03 \x01(\x05\x12\t\n\x01\x61\x18\x04 \x01(\x05\"\xa1\x01\n\x08Material\x12\x30\n\rdiffuse_color\x18\x01 \x01(\x0b\x32\x19.Robim.Data.Display.Color\x12\x30\n\rambient_color\x18\x02 \x01(\x0b\x32\x19.Robim.Data.Display.Color\x12\x31\n\x0e\x65missive_color\x18\x03 \x01(\x0b\x32\x19.Robim.Data.Display.Color*2\n\x0eTransformSpace\x12\t\n\x05Local\x10\x00\x12\n\n\x06Parent\x10\x01\x12\t\n\x05World\x10\x02\x42\x17P\x01\xaa\x02\x12Robim.Data.Displayb\x06proto3'
+  ,
+  dependencies=[Math__pb2.DESCRIPTOR,Geometry__pb2.DESCRIPTOR,])
+
+_TRANSFORMSPACE = _descriptor.EnumDescriptor(
+  name='TransformSpace',
+  full_name='Robim.Data.Display.TransformSpace',
+  filename=None,
+  file=DESCRIPTOR,
+  create_key=_descriptor._internal_create_key,
+  values=[
+    _descriptor.EnumValueDescriptor(
+      name='Local', index=0, number=0,
+      serialized_options=None,
+      type=None,
+      create_key=_descriptor._internal_create_key),
+    _descriptor.EnumValueDescriptor(
+      name='Parent', index=1, number=1,
+      serialized_options=None,
+      type=None,
+      create_key=_descriptor._internal_create_key),
+    _descriptor.EnumValueDescriptor(
+      name='World', index=2, number=2,
+      serialized_options=None,
+      type=None,
+      create_key=_descriptor._internal_create_key),
+  ],
+  containing_type=None,
+  serialized_options=None,
+  serialized_start=282,
+  serialized_end=332,
+)
+_sym_db.RegisterEnumDescriptor(_TRANSFORMSPACE)
+
+TransformSpace = enum_type_wrapper.EnumTypeWrapper(_TRANSFORMSPACE)
+Local = 0
+Parent = 1
+World = 2
+
+
+
+_COLOR = _descriptor.Descriptor(
+  name='Color',
+  full_name='Robim.Data.Display.Color',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='r', full_name='Robim.Data.Display.Color.r', index=0,
+      number=1, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='g', full_name='Robim.Data.Display.Color.g', index=1,
+      number=2, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='b', full_name='Robim.Data.Display.Color.b', index=2,
+      number=3, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='a', full_name='Robim.Data.Display.Color.a', index=3,
+      number=4, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=65,
+  serialized_end=116,
+)
+
+
+_MATERIAL = _descriptor.Descriptor(
+  name='Material',
+  full_name='Robim.Data.Display.Material',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='diffuse_color', full_name='Robim.Data.Display.Material.diffuse_color', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='ambient_color', full_name='Robim.Data.Display.Material.ambient_color', index=1,
+      number=2, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='emissive_color', full_name='Robim.Data.Display.Material.emissive_color', index=2,
+      number=3, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=119,
+  serialized_end=280,
+)
+
+_MATERIAL.fields_by_name['diffuse_color'].message_type = _COLOR
+_MATERIAL.fields_by_name['ambient_color'].message_type = _COLOR
+_MATERIAL.fields_by_name['emissive_color'].message_type = _COLOR
+DESCRIPTOR.message_types_by_name['Color'] = _COLOR
+DESCRIPTOR.message_types_by_name['Material'] = _MATERIAL
+DESCRIPTOR.enum_types_by_name['TransformSpace'] = _TRANSFORMSPACE
+_sym_db.RegisterFileDescriptor(DESCRIPTOR)
+
+Color = _reflection.GeneratedProtocolMessageType('Color', (_message.Message,), {
+  'DESCRIPTOR' : _COLOR,
+  '__module__' : 'Display_pb2'
+  # @@protoc_insertion_point(class_scope:Robim.Data.Display.Color)
+  })
+_sym_db.RegisterMessage(Color)
+
+Material = _reflection.GeneratedProtocolMessageType('Material', (_message.Message,), {
+  'DESCRIPTOR' : _MATERIAL,
+  '__module__' : 'Display_pb2'
+  # @@protoc_insertion_point(class_scope:Robim.Data.Display.Material)
+  })
+_sym_db.RegisterMessage(Material)
+
+
+DESCRIPTOR._options = None
+# @@protoc_insertion_point(module_scope)

robim_data/Math_pb2.py

+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# source: Math.proto
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+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()
+
+
+
+
+DESCRIPTOR = _descriptor.FileDescriptor(
+  name='Math.proto',
+  package='Robim.Data.Math',
+  syntax='proto3',
+  serialized_options=b'P\001\252\002\017Robim.Data.Math',
+  create_key=_descriptor._internal_create_key,
+  serialized_pb=b'\n\nMath.proto\x12\x0fRobim.Data.Math\"\"\n\x06Limits\x12\x0b\n\x03min\x18\x01 \x01(\x01\x12\x0b\n\x03max\x18\x02 \x01(\x01\")\n\x06Vector\x12\t\n\x01x\x18\x01 \x01(\x01\x12\t\n\x01y\x18\x02 \x01(\x01\x12\t\n\x01z\x18\x03 \x01(\x01\"8\n\nQuaternion\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\t\n\x01w\x18\x04 \x01(\x01\"(\n\x05\x45uler\x12\t\n\x01\x61\x18\x01 \x01(\x01\x12\t\n\x01\x62\x18\x02 \x01(\x01\x12\t\n\x01\x63\x18\x03 \x01(\x01\"\xda\x01\n\x08Matrix3D\x12\x0b\n\x03m11\x18\x01 \x01(\x01\x12\x0b\n\x03m12\x18\x02 \x01(\x01\x12\x0b\n\x03m13\x18\x03 \x01(\x01\x12\x0b\n\x03m14\x18\x04 \x01(\x01\x12\x0b\n\x03m21\x18\x05 \x01(\x01\x12\x0b\n\x03m22\x18\x06 \x01(\x01\x12\x0b\n\x03m23\x18\x07 \x01(\x01\x12\x0b\n\x03m24\x18\x08 \x01(\x01\x12\x0b\n\x03m31\x18\t \x01(\x01\x12\x0b\n\x03m32\x18\n \x01(\x01\x12\x0b\n\x03m33\x18\x0b \x01(\x01\x12\x0b\n\x03m34\x18\x0c \x01(\x01\x12\x0b\n\x03m41\x18\r \x01(\x01\x12\x0b\n\x03m42\x18\x0e \x01(\x01\x12\x0b\n\x03m43\x18\x0f \x01(\x01\x12\x0b\n\x03m44\x18\x10 \x01(\x01\"8\n\x0bTransform3D\x12)\n\x06matrix\x18\x01 \x01(\x0b\x32\x19.Robim.Data.Math.Matrix3DB\x14P\x01\xaa\x02\x0fRobim.Data.Mathb\x06proto3'
+)
+
+
+
+
+_LIMITS = _descriptor.Descriptor(
+  name='Limits',
+  full_name='Robim.Data.Math.Limits',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='min', full_name='Robim.Data.Math.Limits.min', index=0,
+      number=1, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='max', full_name='Robim.Data.Math.Limits.max', index=1,
+      number=2, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=31,
+  serialized_end=65,
+)
+
+
+_VECTOR = _descriptor.Descriptor(
+  name='Vector',
+  full_name='Robim.Data.Math.Vector',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='x', full_name='Robim.Data.Math.Vector.x', index=0,
+      number=1, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='y', full_name='Robim.Data.Math.Vector.y', index=1,
+      number=2, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='z', full_name='Robim.Data.Math.Vector.z', index=2,
+      number=3, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=67,
+  serialized_end=108,
+)
+
+
+_QUATERNION = _descriptor.Descriptor(
+  name='Quaternion',
+  full_name='Robim.Data.Math.Quaternion',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='x', full_name='Robim.Data.Math.Quaternion.x', index=0,
+      number=1, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='y', full_name='Robim.Data.Math.Quaternion.y', index=1,
+      number=2, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='z', full_name='Robim.Data.Math.Quaternion.z', index=2,
+      number=3, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='w', full_name='Robim.Data.Math.Quaternion.w', index=3,
+      number=4, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=110,
+  serialized_end=166,
+)
+
+
+_EULER = _descriptor.Descriptor(
+  name='Euler',
+  full_name='Robim.Data.Math.Euler',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='a', full_name='Robim.Data.Math.Euler.a', index=0,
+      number=1, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='b', full_name='Robim.Data.Math.Euler.b', index=1,
+      number=2, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='c', full_name='Robim.Data.Math.Euler.c', index=2,
+      number=3, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=168,
+  serialized_end=208,
+)
+
+
+_MATRIX3D = _descriptor.Descriptor(
+  name='Matrix3D',
+  full_name='Robim.Data.Math.Matrix3D',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='m11', full_name='Robim.Data.Math.Matrix3D.m11', index=0,
+      number=1, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='m12', full_name='Robim.Data.Math.Matrix3D.m12', index=1,
+      number=2, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='m13', full_name='Robim.Data.Math.Matrix3D.m13', index=2,
+      number=3, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='m14', full_name='Robim.Data.Math.Matrix3D.m14', index=3,
+      number=4, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='m21', full_name='Robim.Data.Math.Matrix3D.m21', index=4,
+      number=5, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='m22', full_name='Robim.Data.Math.Matrix3D.m22', index=5,
+      number=6, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='m23', full_name='Robim.Data.Math.Matrix3D.m23', index=6,
+      number=7, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='m24', full_name='Robim.Data.Math.Matrix3D.m24', index=7,
+      number=8, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='m31', full_name='Robim.Data.Math.Matrix3D.m31', index=8,
+      number=9, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='m32', full_name='Robim.Data.Math.Matrix3D.m32', index=9,
+      number=10, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='m33', full_name='Robim.Data.Math.Matrix3D.m33', index=10,
+      number=11, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='m34', full_name='Robim.Data.Math.Matrix3D.m34', index=11,
+      number=12, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='m41', full_name='Robim.Data.Math.Matrix3D.m41', index=12,
+      number=13, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='m42', full_name='Robim.Data.Math.Matrix3D.m42', index=13,
+      number=14, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='m43', full_name='Robim.Data.Math.Matrix3D.m43', index=14,
+      number=15, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='m44', full_name='Robim.Data.Math.Matrix3D.m44', index=15,
+      number=16, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=211,
+  serialized_end=429,
+)
+
+
+_TRANSFORM3D = _descriptor.Descriptor(
+  name='Transform3D',
+  full_name='Robim.Data.Math.Transform3D',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='matrix', full_name='Robim.Data.Math.Transform3D.matrix', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=431,
+  serialized_end=487,
+)
+
+_TRANSFORM3D.fields_by_name['matrix'].message_type = _MATRIX3D
+DESCRIPTOR.message_types_by_name['Limits'] = _LIMITS
+DESCRIPTOR.message_types_by_name['Vector'] = _VECTOR
+DESCRIPTOR.message_types_by_name['Quaternion'] = _QUATERNION
+DESCRIPTOR.message_types_by_name['Euler'] = _EULER
+DESCRIPTOR.message_types_by_name['Matrix3D'] = _MATRIX3D
+DESCRIPTOR.message_types_by_name['Transform3D'] = _TRANSFORM3D
+_sym_db.RegisterFileDescriptor(DESCRIPTOR)
+
+Limits = _reflection.GeneratedProtocolMessageType('Limits', (_message.Message,), {
+  'DESCRIPTOR' : _LIMITS,
+  '__module__' : 'Math_pb2'
+  # @@protoc_insertion_point(class_scope:Robim.Data.Math.Limits)
+  })
+_sym_db.RegisterMessage(Limits)
+
+Vector = _reflection.GeneratedProtocolMessageType('Vector', (_message.Message,), {
+  'DESCRIPTOR' : _VECTOR,
+  '__module__' : 'Math_pb2'
+  # @@protoc_insertion_point(class_scope:Robim.Data.Math.Vector)
+  })
+_sym_db.RegisterMessage(Vector)
+
+Quaternion = _reflection.GeneratedProtocolMessageType('Quaternion', (_message.Message,), {
+  'DESCRIPTOR' : _QUATERNION,
+  '__module__' : 'Math_pb2'
+  # @@protoc_insertion_point(class_scope:Robim.Data.Math.Quaternion)
+  })
+_sym_db.RegisterMessage(Quaternion)
+
+Euler = _reflection.GeneratedProtocolMessageType('Euler', (_message.Message,), {
+  'DESCRIPTOR' : _EULER,
+  '__module__' : 'Math_pb2'
+  # @@protoc_insertion_point(class_scope:Robim.Data.Math.Euler)
+  })
+_sym_db.RegisterMessage(Euler)
+
+Matrix3D = _reflection.GeneratedProtocolMessageType('Matrix3D', (_message.Message,), {
+  'DESCRIPTOR' : _MATRIX3D,
+  '__module__' : 'Math_pb2'
+  # @@protoc_insertion_point(class_scope:Robim.Data.Math.Matrix3D)
+  })
+_sym_db.RegisterMessage(Matrix3D)
+
+Transform3D = _reflection.GeneratedProtocolMessageType('Transform3D', (_message.Message,), {
+  'DESCRIPTOR' : _TRANSFORM3D,
+  '__module__' : 'Math_pb2'
+  # @@protoc_insertion_point(class_scope:Robim.Data.Math.Transform3D)
+  })
+_sym_db.RegisterMessage(Transform3D)
+
+
+DESCRIPTOR._options = None
+# @@protoc_insertion_point(module_scope)

robim_data/ProcessV2_pb2.py

+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# source: ProcessV2.proto
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+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 google.protobuf import any_pb2 as google_dot_protobuf_dot_any__pb2
+from google.protobuf import timestamp_pb2 as google_dot_protobuf_dot_timestamp__pb2
+import Math_pb2 as Math__pb2
+import Geometry_pb2 as Geometry__pb2
+
+
+DESCRIPTOR = _descriptor.FileDescriptor(
+  name='ProcessV2.proto',
+  package='Robim.Data.Process',
+  syntax='proto3',
+  serialized_options=b'P\001\252\002\022Robim.Data.Process',
+  create_key=_descriptor._internal_create_key,
+  serialized_pb=b'\n\x0fProcessV2.proto\x12\x12Robim.Data.Process\x1a\x19google/protobuf/any.proto\x1a\x1fgoogle/protobuf/timestamp.proto\x1a\nMath.proto\x1a\x0eGeometry.protoB\x17P\x01\xaa\x02\x12Robim.Data.Processb\x06proto3'
+  ,
+  dependencies=[google_dot_protobuf_dot_any__pb2.DESCRIPTOR,google_dot_protobuf_dot_timestamp__pb2.DESCRIPTOR,Math__pb2.DESCRIPTOR,Geometry__pb2.DESCRIPTOR,])
+
+
+
+_sym_db.RegisterFileDescriptor(DESCRIPTOR)
+
+
+DESCRIPTOR._options = None
+# @@protoc_insertion_point(module_scope)

robim_data/Robot_pb2.py

+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# source: Robot.proto
+"""Generated protocol buffer code."""
+from google.protobuf.internal import enum_type_wrapper
+from google.protobuf import descriptor as _descriptor
+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()
+
+
+
+
+DESCRIPTOR = _descriptor.FileDescriptor(
+  name='Robot.proto',
+  package='Robim.Data.Robot',
+  syntax='proto3',
+  serialized_options=b'P\001\252\002\020Robim.Data.Robot',
+  create_key=_descriptor._internal_create_key,
+  serialized_pb=b'\n\x0bRobot.proto\x12\x10Robim.Data.Robot\"\x07\n\x05Robot*K\n\x05\x42rand\x12\x0b\n\x07Unknown\x10\x00\x12\x08\n\x04KUKA\x10\x01\x12\x07\n\x03\x41\x42\x42\x10\x02\x12\t\n\x05\x46\x61nuc\x10\x03\x12\x0b\n\x07Yaskawa\x10\x04\x12\n\n\x06\x43ommon\x10\x64*J\n\x07ValType\x12\n\n\x06Unkown\x10\x00\x12\x07\n\x03Int\x10\x01\x12\t\n\x05\x46loat\x10\x02\x12\n\n\x06String\x10\x03\x12\x08\n\x04\x42ool\x10\x04\x12\t\n\x05Short\x10\x05\x42\x15P\x01\xaa\x02\x10Robim.Data.Robotb\x06proto3'
+)
+
+_BRAND = _descriptor.EnumDescriptor(
+  name='Brand',
+  full_name='Robim.Data.Robot.Brand',
+  filename=None,
+  file=DESCRIPTOR,
+  create_key=_descriptor._internal_create_key,
+  values=[
+    _descriptor.EnumValueDescriptor(
+      name='Unknown', index=0, number=0,
+      serialized_options=None,
+      type=None,
+      create_key=_descriptor._internal_create_key),
+    _descriptor.EnumValueDescriptor(
+      name='KUKA', index=1, number=1,
+      serialized_options=None,
+      type=None,
+      create_key=_descriptor._internal_create_key),
+    _descriptor.EnumValueDescriptor(
+      name='ABB', index=2, number=2,
+      serialized_options=None,
+      type=None,
+      create_key=_descriptor._internal_create_key),
+    _descriptor.EnumValueDescriptor(
+      name='Fanuc', index=3, number=3,
+      serialized_options=None,
+      type=None,
+      create_key=_descriptor._internal_create_key),
+    _descriptor.EnumValueDescriptor(
+      name='Yaskawa', index=4, number=4,
+      serialized_options=None,
+      type=None,
+      create_key=_descriptor._internal_create_key),
+    _descriptor.EnumValueDescriptor(
+      name='Common', index=5, number=100,
+      serialized_options=None,
+      type=None,
+      create_key=_descriptor._internal_create_key),
+  ],
+  containing_type=None,
+  serialized_options=None,
+  serialized_start=42,
+  serialized_end=117,
+)
+_sym_db.RegisterEnumDescriptor(_BRAND)
+
+Brand = enum_type_wrapper.EnumTypeWrapper(_BRAND)
+_VALTYPE = _descriptor.EnumDescriptor(
+  name='ValType',
+  full_name='Robim.Data.Robot.ValType',
+  filename=None,
+  file=DESCRIPTOR,
+  create_key=_descriptor._internal_create_key,
+  values=[
+    _descriptor.EnumValueDescriptor(
+      name='Unkown', index=0, number=0,
+      serialized_options=None,
+      type=None,
+      create_key=_descriptor._internal_create_key),
+    _descriptor.EnumValueDescriptor(
+      name='Int', index=1, number=1,
+      serialized_options=None,
+      type=None,
+      create_key=_descriptor._internal_create_key),
+    _descriptor.EnumValueDescriptor(
+      name='Float', index=2, number=2,
+      serialized_options=None,
+      type=None,
+      create_key=_descriptor._internal_create_key),
+    _descriptor.EnumValueDescriptor(
+      name='String', index=3, number=3,
+      serialized_options=None,
+      type=None,
+      create_key=_descriptor._internal_create_key),
+    _descriptor.EnumValueDescriptor(
+      name='Bool', index=4, number=4,
+      serialized_options=None,
+      type=None,
+      create_key=_descriptor._internal_create_key),
+    _descriptor.EnumValueDescriptor(
+      name='Short', index=5, number=5,
+      serialized_options=None,
+      type=None,
+      create_key=_descriptor._internal_create_key),
+  ],
+  containing_type=None,
+  serialized_options=None,
+  serialized_start=119,
+  serialized_end=193,
+)
+_sym_db.RegisterEnumDescriptor(_VALTYPE)
+
+ValType = enum_type_wrapper.EnumTypeWrapper(_VALTYPE)
+Unknown = 0
+KUKA = 1
+ABB = 2
+Fanuc = 3
+Yaskawa = 4
+Common = 100
+Unkown = 0
+Int = 1
+Float = 2
+String = 3
+Bool = 4
+Short = 5
+
+
+
+_ROBOT = _descriptor.Descriptor(
+  name='Robot',
+  full_name='Robim.Data.Robot.Robot',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=33,
+  serialized_end=40,
+)
+
+DESCRIPTOR.message_types_by_name['Robot'] = _ROBOT
+DESCRIPTOR.enum_types_by_name['Brand'] = _BRAND
+DESCRIPTOR.enum_types_by_name['ValType'] = _VALTYPE
+_sym_db.RegisterFileDescriptor(DESCRIPTOR)
+
+Robot = _reflection.GeneratedProtocolMessageType('Robot', (_message.Message,), {
+  'DESCRIPTOR' : _ROBOT,
+  '__module__' : 'Robot_pb2'
+  # @@protoc_insertion_point(class_scope:Robim.Data.Robot.Robot)
+  })
+_sym_db.RegisterMessage(Robot)
+
+
+DESCRIPTOR._options = None
+# @@protoc_insertion_point(module_scope)