152 lines
3.9 KiB
Protocol Buffer
152 lines
3.9 KiB
Protocol Buffer
syntax = "proto3";
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package cmvr.config;
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import "cmvr/config/lawba_ik_config.proto";
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import "cmvr/config/pinocchio_dls_ik_config.proto";
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import "cmvr/config/pinocchio_qp_ik_config.proto";
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import "cmvr/config/srs_ik_config.proto";
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import "cmvr/config/cartesian_motion_validation_config.proto";
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enum ToppraPathType {
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TOPPRA_PATH_TYPE_UNKNOWN = 0;
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TOPPRA_PATH_TYPE_LINEAR = 1;
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TOPPRA_PATH_TYPE_CUBIC_HERMITE = 2;
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TOPPRA_PATH_TYPE_QUINTIC = 3;
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TOPPRA_PATH_TYPE_NATURAL = 4;
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}
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message MotorRobotArmBackendConfig {
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string motor_system_id = 2;
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int32 dof = 3;
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repeated string joint_names = 4;
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int32 upd_freq = 5;
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int32 buffer_size = 6;
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double default_vel = 7;
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double default_acc = 8;
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repeated string motor_group_ids = 9;
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}
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enum VendorRobotArmBrand {
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VENDOR_ROBOT_ARM_BRAND_UNKNOWN = 0;
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VENDOR_ROBOT_ARM_BRAND_AUBO_ARM = 1;
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VENDOR_ROBOT_ARM_BRAND_HUAYAN_ARM = 2;
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}
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message VendorRobotArmBackendConfig {
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VendorRobotArmBrand brand = 1;
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string ip = 2;
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int32 port = 3;
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string model = 4;
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int32 dof = 5;
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repeated string joint_names = 6;
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string base_frame = 7;
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string tool_frame = 8;
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string username = 9;
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string password = 10;
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// 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。
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// 默认 false；普通启动、普通掉电和软件急停不会触发自动使能。
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bool auto_enable = 11;
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}
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message SpeedLPlannerConfig {
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double linear_velocity_max = 1;
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double linear_acceleration_max = 2;
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double linear_jerk_max = 3;
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double angular_velocity_max = 4;
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double angular_acceleration_max = 5;
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double angular_jerk_max = 6;
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double linear_target_replan_threshold = 8;
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double angular_target_replan_threshold = 9;
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double linear_reverse_cos_threshold = 10;
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double linear_reverse_switch_speed_threshold = 11;
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optional bool enforce_joint_acceleration_limits = 17;
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CartesianLineDeviationCheckConfig line_deviation_check = 18;
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JointVelocityCheckConfig joint_velocity_check = 19;
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CartesianVelocityFeasibilityCheckConfig cartesian_velocity_feasibility_check = 20;
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}
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message CartesianVelocityControllerConfig {
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double control_period_s = 1;
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double stop_twist_norm = 2;
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double stop_command_velocity_norm = 3;
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double stop_measured_velocity_norm = 4;
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double stop_acceleration = 5;
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}
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message ToppraJointMotionPlannerConfig {
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ToppraPathType path_type = 1;
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double sample_period_s = 2;
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int32 grid_size = 3;
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int32 high_grid_size = 4;
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}
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message MoveJConfig {
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oneof algorithm {
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ToppraJointMotionPlannerConfig toppra_joint_motion_planner = 1;
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}
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}
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message MoveLPlannerConfig {
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double sample_period_s = 1;
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double position_gain = 2;
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double rotation_gain = 3;
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CartesianLineDeviationCheckConfig line_deviation_check = 4;
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JointContinuityCheckConfig joint_continuity_check = 5;
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CartesianStepFeasibilityCheckConfig cartesian_step_feasibility_check = 6;
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}
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message MoveLConfig {
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oneof algorithm {
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MoveLPlannerConfig pinocchio_cartesian_motion_planner = 1;
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}
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}
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message SpeedLControllerConfig {
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oneof algorithm {
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CartesianVelocityControllerConfig cartesian_velocity_controller = 1;
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}
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}
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message SpeedLConfig {
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oneof algorithm {
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SpeedLPlannerConfig pinocchio_cartesian_motion_planner = 1;
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}
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SpeedLControllerConfig speed_l_controller = 10;
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}
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message ArmKinematicsConfig {
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oneof algorithm {
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PinocchioDlsIKConfig pinocchio_dls_ik_solver = 10;
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PinocchioQpIKConfig pinocchio_qp_ik_solver = 11;
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SrsIKConfig srs_ik_solver = 12;
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LawbaIKConfig lawba_ik_solver = 13;
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}
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}
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message ArmMotionConfig {
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MoveJConfig move_j = 1;
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MoveLConfig move_l = 2;
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SpeedLConfig speed_l = 4;
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}
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message RobotArmConfig {
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string id = 1;
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oneof backend {
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MotorRobotArmBackendConfig motor = 10;
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VendorRobotArmBackendConfig vendor = 11;
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}
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ArmKinematicsConfig kinematics = 20;
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ArmMotionConfig motion = 21;
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}
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message ArmConfig {
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repeated RobotArmConfig robot_arms = 1;
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}
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message ArmRootConfig {
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ArmConfig arm = 1;
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}
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