69 lines
1.5 KiB
Protocol Buffer
69 lines
1.5 KiB
Protocol Buffer
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syntax = "proto2";
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package gazebo.msgs;
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/// \ingroup gazebo_msgs
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/// \interface Joint
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/// \brief Message for creating joint
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import "axis.proto";
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import "pose.proto";
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import "sensor.proto";
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message Joint
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{
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message Gearbox
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{
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/// \brief Gearbox joint reference body link
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required string gearbox_reference_body = 1;
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/// \brief Gearbox ratio.
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required double gearbox_ratio = 2;
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}
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message Screw
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{
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/// \brief Screw joint thread pitch.
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required double thread_pitch = 1;
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}
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enum Type
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{
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REVOLUTE = 1;
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REVOLUTE2 = 2;
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PRISMATIC = 3;
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UNIVERSAL = 4;
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BALL = 5;
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SCREW = 6;
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GEARBOX = 7;
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FIXED = 8;
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}
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required string name = 1;
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optional uint32 id = 2;
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repeated double angle = 3;
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optional Type type = 4;
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optional string parent = 5;
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optional uint32 parent_id = 6;
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optional string child = 7;
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optional uint32 child_id = 8;
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optional Pose pose = 9;
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optional Axis axis1 = 10;
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optional Axis axis2 = 11;
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optional double cfm = 12;
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optional double bounce = 13;
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optional double velocity = 14;
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optional double fudge_factor = 15;
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optional double limit_cfm = 16;
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optional double limit_erp = 17;
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optional double suspension_cfm = 18;
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optional double suspension_erp = 19;
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optional Gearbox gearbox = 20;
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optional Screw screw = 21;
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repeated Sensor sensor = 22;
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}
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