syntax = "proto3";

package cmvr.config;

import "cmvr/config/joint_limits_config.proto";

message PinocchioDlsIKConfig {
  string urdf_path = 1;
  string base_frame_name = 2;
  string flange_frame_name = 3;
  string tcp_frame_name = 4;

  int32 max_iters = 5;
  double pos_eps = 6;
  double rot_eps = 7;
  double damping = 8;
  JointLimitAvoidanceConfig joint_limit_avoidance = 9;
  JointLimitsConfig joint_limits = 10;
}

message JointLimitAvoidanceConfig {
  bool enable = 1;
  double gain = 2;
  double margin_ratio = 3;
  double max_push = 4;
}