cmvr-es/protos/cmvr/config/arm_config/arm_config.proto

syntax = "proto3";
package cmvr.config;

import "cmvr/config/lawba_ik_config.proto";
import "cmvr/config/pinocchio_dls_ik_config.proto";
import "cmvr/config/pinocchio_qp_ik_config.proto";
import "cmvr/config/srs_ik_config.proto";
import "cmvr/config/cartesian_motion_validation_config.proto";

enum ToppraPathType {
  TOPPRA_PATH_TYPE_UNKNOWN = 0;
  TOPPRA_PATH_TYPE_LINEAR = 1;
  TOPPRA_PATH_TYPE_CUBIC_HERMITE = 2;
  TOPPRA_PATH_TYPE_QUINTIC = 3;
  TOPPRA_PATH_TYPE_NATURAL = 4;
}

message MotorRobotArmBackendConfig {
  string motor_system_id = 2;
  int32 dof = 3;
  repeated string joint_names = 4;
  int32 upd_freq = 5;
  int32 buffer_size = 6;
  double default_vel = 7;
  double default_acc = 8;
  repeated string motor_group_ids = 9;
}

enum VendorRobotArmBrand {
  VENDOR_ROBOT_ARM_BRAND_UNKNOWN = 0;
  VENDOR_ROBOT_ARM_BRAND_AUBO_ARM = 1;
  VENDOR_ROBOT_ARM_BRAND_HUAYAN_ARM = 2;
}

message VendorRobotArmBackendConfig {
  VendorRobotArmBrand brand = 1;
  string ip = 2;
  int32 port = 3;
  string model = 4;
  int32 dof = 5;
  repeated string joint_names = 6;
  string base_frame = 7;
  string tool_frame = 8;
  string username = 9;
  string password = 10;
  // 仅在检测到一次真实硬件急停并确认急停输入已释放后，自动上电并使能。
  // 默认 false；普通启动、普通掉电和软件急停不会触发自动使能。
  bool auto_enable = 11;
}

message SpeedLPlannerConfig {
  // Default true: preserve acceleration through same-axis velocity reversal.
  optional bool continuous_linear_reversal = 21;
  // Arm-level speedL limits. Command requests may lower, but not raise them.
  // Linear units: m/s, m/s^2, m/s^3. Angular units: rad/s, rad/s^2, rad/s^3.
  // Unset/nonpositive values use the planner defaults.
  double linear_velocity_max = 1;
  double linear_acceleration_max = 2;
  double linear_jerk_max = 3;
  double angular_velocity_max = 4;
  double angular_acceleration_max = 5;
  double angular_jerk_max = 6;
  double linear_target_replan_threshold = 8;
  double angular_target_replan_threshold = 9;
  double linear_reverse_cos_threshold = 10;
  double linear_reverse_switch_speed_threshold = 11;
  optional bool enforce_joint_acceleration_limits = 17;
  CartesianLineDeviationCheckConfig line_deviation_check = 18;
  JointVelocityCheckConfig joint_velocity_check = 19;
  CartesianVelocityFeasibilityCheckConfig cartesian_velocity_feasibility_check = 20;
}

message CartesianVelocityControllerConfig {
  double control_period_s = 1;
  double stop_twist_norm = 2;
  double stop_command_velocity_norm = 3;
  double stop_measured_velocity_norm = 4;
  double stop_acceleration = 5;
  // 等待 Cartesian 速度运动停止的最长时间，单位为秒。
  optional double stop_timeout_s = 6;
}

message ToppraJointMotionPlannerConfig {
  ToppraPathType path_type = 1;
  double sample_period_s = 2;
  int32 grid_size = 3;
  int32 high_grid_size = 4;
}

message MoveJConfig {
  oneof algorithm {
    ToppraJointMotionPlannerConfig toppra_joint_motion_planner = 1;
  }

  // MoveJ 轨迹发送完成后，等待关节实际状态稳定的最长时间，单位为秒。
  optional double settle_timeout_s = 2;
  // MoveJ 完成时允许的最大关节位置误差，单位为弧度。
  optional double settle_position_tolerance_rad = 3;
  // MoveJ 完成时允许的最大关节速度，单位为弧度/秒。
  optional double settle_velocity_tolerance_rad_s = 4;
  // 位置和速度连续满足条件的采样次数。
  optional int32 settle_stable_sample_count = 5;
}

message MoveLPlannerConfig {
  double sample_period_s = 1;
  double position_gain = 2;
  double rotation_gain = 3;
  CartesianLineDeviationCheckConfig line_deviation_check = 4;
  JointContinuityCheckConfig joint_continuity_check = 5;
  CartesianStepFeasibilityCheckConfig cartesian_step_feasibility_check = 6;
}

message MoveLConfig {
  oneof algorithm {
    MoveLPlannerConfig pinocchio_cartesian_motion_planner = 1;
  }
}

message SpeedLControllerConfig {
  oneof algorithm {
    CartesianVelocityControllerConfig cartesian_velocity_controller = 1;
  }
}

message SpeedLConfig {
  oneof algorithm {
    SpeedLPlannerConfig pinocchio_cartesian_motion_planner = 1;
  }

  SpeedLControllerConfig speed_l_controller = 10;
}

message ArmKinematicsConfig {
  oneof algorithm {
    PinocchioDlsIKConfig pinocchio_dls_ik_solver = 10;
    PinocchioQpIKConfig pinocchio_qp_ik_solver = 11;
    SrsIKConfig srs_ik_solver = 12;
    LawbaIKConfig lawba_ik_solver = 13;
  }
}

message ArmMotionConfig {
  MoveJConfig move_j = 1;
  MoveLConfig move_l = 2;
  SpeedLConfig speed_l = 4;
}

message RobotArmConfig {
  string id = 1;

  oneof backend {
    MotorRobotArmBackendConfig motor = 10;
    VendorRobotArmBackendConfig vendor = 11;
  }

  ArmKinematicsConfig kinematics = 20;
  ArmMotionConfig motion = 21;
}

message ArmConfig {
  repeated RobotArmConfig robot_arms = 1;
}

message ArmRootConfig {
  ArmConfig arm = 1;
}