Commit 6956ebd2 authored by René Schöne's avatar René Schöne
Browse files

Moving common files to common directory.

parent c2fc88cd
Pipeline #7205 passed with stages
in 5 minutes and 30 seconds
......@@ -28,7 +28,7 @@ public class StarterMain {
private Model model;
public void run(String[] args) throws IOException, InterruptedException {
File configFile = new File(args.length == 0 ? "./src/main/resources/config.yaml" : args[0]);
File configFile = new File(args.length == 0 ? "common/config.yaml" : args[0]);
// --- No configuration below this line ---
......
../../../common/proto/
\ No newline at end of file
{
"joints": [
{"name": "Joint0", "topic": "panda::panda_link0"},
{"name": "Joint1", "topic": "panda::panda_link1"},
{"name": "Joint2", "topic": "panda::panda_link2"},
{"name": "Joint3", "topic": "panda::panda_link3"},
{"name": "Joint4", "topic": "panda::panda_link4"},
{"name": "Joint5", "topic": "panda::panda_link5"},
{"name": "Joint6", "topic": "panda::panda_link6"},
{"name": "EndEffector", "topic": "panda::panda_link7", "isEndEffector": true},
{"name": "LeftFinger", "topic": "panda::panda_leftfinger"},
{"name": "RightFinger", "topic": "panda::panda_rightfinger"}
],
"robotConfigTopic": "robotconfig",
"dataConfigTopic": "dataconfig"
}
../../../common/proto/
\ No newline at end of file
syntax = "proto3";
package panda;
message PandaLinkState {
string name = 1;
message Position {
float positionX = 1;
float positionY = 2;
float positionZ = 3;
}
message Orientation {
float orientationX = 1;
float orientationY = 2;
float orientationZ = 3;
float orientationW = 4;
}
message TwistLinear {
float twistLinearX = 1;
float twistLinearY = 2;
float twistLinearZ = 3;
}
message TwistAngular {
float twistAngularX = 1;
float twistAngularY = 2;
float twistAngularZ = 3;
}
Position pos = 2;
Orientation orient = 3;
TwistLinear tl = 4;
TwistAngular ta = 5;
}
syntax = "proto3";
package config;
message RobotConfig {
double speed = 1;
bool loopTrajectory = 2;
enum PlanningMode {
FLUID = 0;
CARTESIAN = 1;
}
PlanningMode planningMode = 3;
}
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