syntax = "proto3";
package cmvr.config;

enum JointLimitSource {
  JOINT_LIMIT_SOURCE_UNSPECIFIED = 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;
  bool enable = 4;
}

message JointSoftLimitConfig {
  bool enable = 1;
  double margin_ratio = 2;
  double min_margin_rad = 3;
}

message JointLimitAvoidanceConfig {
  bool enable = 1;
  double gain = 2;
  double margin_ratio = 3;
  double max_push = 4;
  double weight = 5;
}

message JointLimitPolicyConfig {
  JointLimitsConfig limits = 1;
  JointSoftLimitConfig soft_limit = 2;
  JointLimitAvoidanceConfig avoidance = 3;
}