44 lines
849 B
Protocol Buffer
44 lines
849 B
Protocol Buffer
syntax = "proto3";
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package cmvr.config;
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enum JointLimitSource {
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JOINT_LIMIT_SOURCE_UNSPECIFIED = 0;
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JOINT_LIMIT_SOURCE_URDF = 1;
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JOINT_LIMIT_SOURCE_CUSTOM = 2;
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}
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message JointLimitConfig {
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string joint_name = 1;
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double q_lb = 2;
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double q_ub = 3;
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double qd = 4;
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double qdd = 5;
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}
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message JointLimitsConfig {
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JointLimitSource source = 1;
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repeated JointLimitConfig joints = 2;
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string urdf_path = 3;
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bool enable = 4;
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}
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message JointSoftLimitConfig {
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bool enable = 1;
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double margin_ratio = 2;
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double min_margin_rad = 3;
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}
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message JointLimitAvoidanceConfig {
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bool enable = 1;
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double gain = 2;
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double margin_ratio = 3;
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double max_push = 4;
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double weight = 5;
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}
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message JointLimitPolicyConfig {
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JointLimitsConfig limits = 1;
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JointSoftLimitConfig soft_limit = 2;
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JointLimitAvoidanceConfig avoidance = 3;
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}
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