53 lines
947 B
Protocol Buffer
53 lines
947 B
Protocol Buffer
syntax = "proto3";
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package cmvr.config;
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import "cmvr/config/joint_limits_config.proto";
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message Ti5MotorConfig {
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int32 id = 1;
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string joint_name = 2;
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double limit_q_lb = 3;
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double limit_q_ub = 4;
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double limit_qd = 5;
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}
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message SocketCanConfig {
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string dev_id = 1;
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int32 channel_id = 2;
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}
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message EtherCATConfig {
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string master_id = 1;
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int32 cycle_us = 2;
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}
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enum MotorBusType {
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MOTOR_BUS_UNKNOWN = 0;
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MOTOR_BUS_CAN = 1;
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MOTOR_BUS_ETHERCAT = 2;
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MOTOR_BUS_MUJOCO = 3;
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}
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message MotorGroupConfig {
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string id = 1;
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MotorBusType bus_type = 2;
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string tool_frame = 3;
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oneof bus_config {
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SocketCanConfig can = 10;
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EtherCATConfig ethercat = 11;
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}
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repeated Ti5MotorConfig motors = 20;
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JointLimitsConfig joint_limits = 30;
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string joint_limits_urdf_path = 31;
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}
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message MotorConfig {
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string id = 1;
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repeated MotorGroupConfig motor_groups = 2;
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}
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message MotorRootConfig {
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MotorConfig motor = 1;
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}
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