21 lines
385 B
Protocol Buffer
21 lines
385 B
Protocol Buffer
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syntax = "proto3";
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package cmvr.config;
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enum JointLimitSource {
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JOINT_LIMIT_SOURCE_UNKNOWN = 0;
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JOINT_LIMIT_SOURCE_URDF = 1;
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JOINT_LIMIT_SOURCE_CUSTOM = 2;
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}
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message JointLimitConfig {
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string joint_name = 1;
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double lower = 2;
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double upper = 3;
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double velocity = 4;
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}
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message JointLimitsConfig {
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JointLimitSource source = 1;
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repeated JointLimitConfig joints = 2;
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}
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