syntax = "proto3";
package aimdk.protocol;

import public "aimdk/protocol/common/vec3.proto";
import public "aimdk/protocol/common/timestamp.proto";


/**
 * @brief 力矩
 */
message Wrench {
  Vec3 force = 1;   // force 单位：N
  Vec3 torque = 2;  // torque 单位：N*m
}

/**
 * @brief 力矩，带时间戳
 */
message WrenchStamped {
  Timestamp timestamp = 1;
  Wrench wrench = 2;
}