101 lines
1.5 KiB
Protocol Buffer
101 lines
1.5 KiB
Protocol Buffer
syntax = "proto3";
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package aimdk.protocol;
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// 关节信息
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message JointState {
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/**
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* 关节名称
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*/
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string name = 1;
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/**
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* 关节消息的序号
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*/
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uint32 sequence = 2;
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/**
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* 关节角度，单位：弧度 or m
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*/
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double position = 3;
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/**
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* 关节角速度，单位：弧度/秒 or m/s
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*/
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double velocity = 4;
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/**
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* 关节扭矩，单位：N or N*m
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*/
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double effort = 5;
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}
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message JointCommand {
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/**
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* 关节名称
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*/
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string name = 1;
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/**
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* 关节消息的序号
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*/
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uint32 sequence = 2;
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/**
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* 关节角度，单位：弧度 or m
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*/
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double position = 3;
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/**
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* 关节角速度，单位：弧度/秒 or m/s
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*/
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double velocity = 4;
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/**
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* 关节扭矩，单位：N
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*/
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double effort = 5;
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/**
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* 阻尼，单位： N·m/rad or N/m
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*/
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double stiffness = 6;
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/**
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* 阻尼单位： N·s/m or N·m·s/rad
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*/
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double damping = 7;
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}
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message JointParam {
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/**
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* 关节名称
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*/
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string name = 1;
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/**
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* 关节位置上限，单位：弧度或者米
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*/
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double position_upper_limit = 2;
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/**
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* 关节位置下限，单位：弧度或者米
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*/
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double position_lower_limit = 3;
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/**
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* 关节速度限制，单位：弧度/秒或者米/秒
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*/
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double velocity_limit = 4;
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/**
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* 关节加速度限制，单位：弧度/秒^2或者米/秒^2
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*/
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double acceleration_limit = 5;
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/**
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* 关节扭矩限制，单位：N或者N·m
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*/
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double effort_limit = 6;
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}
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