Update Protobuf Version for Compatibility

[hesic73]

We currently build Deoxys using Protobuf 3. However, using a newer version of Protobuf in Python (e.g., protobuf==5.28.3) causes compatibility issues.

deoxys_control/deoxys/InstallPackage

Line 45 in 97396fd

git checkout v3.13.0

$ python examples/run_deoxys_with_space_mouse.py 
Traceback (most recent call last):
  File "examples/run_deoxys_with_space_mouse.py", line 4, in <module>
    from deoxys.franka_interface import FrankaInterface
  File "/home/abrar/hsc/deoxys_control/deoxys/deoxys/franka_interface/__init__.py", line 1, in <module>
    from .franka_interface import FrankaInterface
  File "/home/abrar/hsc/deoxys_control/deoxys/deoxys/franka_interface/franka_interface.py", line 10, in <module>
    import deoxys.proto.franka_interface.franka_controller_pb2 as franka_controller_pb2
  File "/home/abrar/hsc/deoxys_control/deoxys/deoxys/proto/franka_interface/franka_controller_pb2.py", line 36, in <module>
    _descriptor.EnumValueDescriptor(
  File "/home/abrar/miniconda3/envs/hsc/lib/python3.8/site-packages/google/protobuf/descriptor.py", line 920, in __new__
    _message.Message._CheckCalledFromGeneratedFile()
TypeError: Descriptors cannot be created directly.
If this call came from a _pb2.py file, your generated code is out of date and must be regenerated with protoc >= 3.19.0.
If you cannot immediately regenerate your protos, some other possible workarounds are:
 1. Downgrade the protobuf package to 3.20.x or lower.
 2. Set PROTOCOL_BUFFERS_PYTHON_IMPLEMENTATION=python (but this will use pure-Python parsing and will be much slower).

More information: https://developers.google.com/protocol-buffers/docs/news/2022-05-06#python-updates

For now, I regenerate the Python files using protoc, which seems to resolve the issue. Here’s the command I use:

python -m grpc_tools.protoc -I=proto --python_out=deoxys/proto --grpc_python_out=deoxys/proto/ proto/franka-interface/*.proto
python -m grpc_tools.protoc -I=proto --python_out=deoxys/proto --grpc_python_out=deoxys/proto proto/*.proto

[hesic73]

By the way, could you add an uninstall target in the Makefile? When I first ran

make -j build_deoxys=1

I built protobuf from source, but I used the default version (3.13.0). Now, I’d like to switch to a newer version. However, after checking out the desired protobuf version and re-running this command, it didn't update the installation as expected. The functionality is unaffected, but having an uninstall target would make it easier to manage version updates.