joint_state.proto

syntax = "proto3";
 
package state_representation.proto;
 
import "state_representation/state.proto";
 
message JointState {
  State state = 1;
  repeated string joint_names = 2;
  repeated double positions = 3;
  repeated double velocities = 4;
  repeated double accelerations = 5;
  repeated double torques = 6;
}
 
message JointPositions {
  State state = 1;
  repeated string joint_names = 2;
  repeated double positions = 3;
}
 
message JointVelocities {
  State state = 1;
  repeated string joint_names = 2;
  repeated double velocities = 3;
}
 
message JointAccelerations {
  State state = 1;
  repeated string joint_names = 2;
  repeated double accelerations = 3;
}
 
message JointTorques {
  State state = 1;
  repeated string joint_names = 2;
  repeated double torques = 3;
}