syntax = "proto3";
package cmvr.config;

enum JointLimitSource {
  JOINT_LIMIT_SOURCE_UNKNOWN = 0;
  JOINT_LIMIT_SOURCE_URDF = 1;
  JOINT_LIMIT_SOURCE_CUSTOM = 2;
}

message JointLimitConfig {
  string joint_name = 1;
  double q_lb = 2;
  double q_ub = 3;
  double qd = 4;
  double qdd = 5;
}

message JointLimitsConfig {
  JointLimitSource source = 1;
  repeated JointLimitConfig joints = 2;
  string urdf_path = 3;
}