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EndEffectorTarget.msg
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EndEffectorTarget.msg
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# Definition of a target for the end effector.
# Leg name ('LF_LEG', 'RH_LEG' etc.).
string name
# Target of the end effector.
# Target can be specified as position, velocity, acceleration,
# force, or a combination of these.
geometry_msgs/PointStamped[] target_position
geometry_msgs/Vector3Stamped[] target_velocity
geometry_msgs/Vector3Stamped[] target_acceleration
geometry_msgs/Vector3Stamped[] target_force
# Average velocity of the end effector motion [m/s].
# Determines the duration of the motion.
# If 0, default is used.
float64 average_velocity
# Target surface normal.
# Leave empty of no contact is expected or not known.
geometry_msgs/Vector3Stamped surface_normal
# If contact of the end effector should be ignored.
# Default is false.
bool ignore_contact
# If pose adaptation should ignore this leg motion.
# Default is false.
bool ignore_for_pose_adaptation