18 lines
396 B
Protocol Buffer
18 lines
396 B
Protocol Buffer
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syntax = "proto3";
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package cmvr.config;
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// 只管 QP 这个 IK 的参数
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message PinocchioQpIKConfig {
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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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double lambda = 5;
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double w_posrot = 6;
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int32 max_iters = 7;
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double tol = 8;
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double qp_time_limit = 9;
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}
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