85 lines
1.5 KiB
Protocol Buffer
85 lines
1.5 KiB
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 MotorConfigItem {
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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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double limit_qdd = 6;
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}
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message MotorList {
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repeated MotorConfigItem motors = 1;
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}
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message EthercatSlaveConfig {
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int32 motor_id = 1;
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int32 slave_index = 2;
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uint32 vendor_id = 3;
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uint32 product_code = 4;
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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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repeated EthercatSlaveConfig slaves = 10;
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}
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message MujocoMotorGroupConfig {
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string world_id = 1;
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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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enum MotorVendor {
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MOTOR_VENDOR_UNKNOWN = 0;
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MOTOR_VENDOR_TI5 = 1;
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MOTOR_VENDOR_MUJOCO = 2;
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}
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enum MotorProtocol {
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MOTOR_PROTOCOL_UNKNOWN = 0;
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MOTOR_PROTOCOL_CANOPEN = 1;
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MOTOR_PROTOCOL_ETHERCAT_CIA402 = 2;
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MOTOR_PROTOCOL_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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MotorVendor vendor = 3;
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MotorProtocol protocol = 4;
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string tool_frame = 5;
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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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MujocoMotorGroupConfig mujoco = 12;
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}
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JointLimitsConfig joint_limits = 30;
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MotorList motors = 40;
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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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