syntax = "proto3";
package aimdk.protocol;

import public "aimdk/protocol/common/header.proto";
import public "aimdk/protocol/common/joint.proto";

message JointStatesChannel {
  // 消息头
  Header header = 1;

  // 关节状态，包括角度和速度、扭矩
  repeated JointState states = 2;
}

message JointCommandsChannel {
  // 消息头
  Header header = 1;

  // 关节指令
  repeated JointCommand commands = 2;
}
