syntax = "proto3";

package cmvr.config;

import "cmvr/config/joint_limits_config.proto";

// 只管 QP 这个 IK 的参数
message PinocchioQpIKConfig {
  string urdf_path         = 1;
  string base_frame_name   = 2;
  string flange_frame_name = 3;
  string tcp_frame_name    = 4;

  double lambda            = 5;
  double w_posrot          = 6;
  int32  max_iters         = 7;
  double tol               = 8;
  double qp_time_limit     = 9;
  JointLimitPolicyConfig joint_limit_policy = 10;
}