lgv
0257ac85ca
Add Pinocchio and Coal based self-collision checking with collision-pair filtering and displacement-based sampling. Integrate a periodic safety task with warning and stop thresholds, plus the simplified collision URDF and runtime configuration.
34 lines
687 B
Protocol Buffer
34 lines
687 B
Protocol Buffer
syntax = "proto3";
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package cmvr.config;
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message TaskConfigEntry {
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enum TaskType {
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TASK_TYPE_UNKNOWN = 0;
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TASK_TYPE_TOUCH_SCREEN = 1;
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TASK_TYPE_GRPC_SERVER = 3;
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TASK_TYPE_SELF_COLLISION = 4;
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reserved 2;
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reserved "TASK_TYPE_ARM_CONTROL";
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}
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enum TaskRunMode {
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TASK_RUN_MODE_UNKNOWN = 0;
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TASK_RUN_MODE_PERIODIC_STEP = 1;
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TASK_RUN_MODE_BLOCKING_SERVICE = 2;
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}
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string id = 1;
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TaskType type = 2;
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string config_file = 3;
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bool enable = 4;
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TaskRunMode run_mode = 5;
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double control_period_s = 6;
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}
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message TaskManagerConfig {
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repeated TaskConfigEntry tasks = 1;
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}
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message TaskManagerRootConfig {
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TaskManagerConfig task_manager = 1;
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}
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