2026-06-24 15:45:54 +08:00
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syntax = "proto3";
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package cmvr.config;
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import "cmvr/config/joint_limits_config.proto";
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message PinocchioDlsIKConfig {
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string urdf_path = 1;
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string base_frame_name = 2;
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string flange_frame_name = 3;
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string tcp_frame_name = 4;
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int32 max_iters = 5;
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double pos_eps = 6;
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double rot_eps = 7;
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double damping = 8;
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2026-06-30 16:05:25 +08:00
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JointLimitPolicyConfig joint_limit_policy = 9;
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2026-06-24 15:45:54 +08:00
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}
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