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38 lines
1.3 KiB
38 lines
1.3 KiB
# This message describes the whole-body state of rigid body system.
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#
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# A whole-body state is defined by the centroidal, joints and contact states.
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# The description of every element is defined in their respective
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# messages. This state is described in respective time.
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#
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# The centroidal state describes
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# * the position, velocity and acceleration of the CoM,
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# * the base orientation and angular velocity, and
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# * the linear and angular momentum and their rates.
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#
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# The joint states describes:
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# * the joint name
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# * the position of the joint (rad or m),
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# * the velocity of the joint (rad/s or m/s),
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# * the effort that is applied in the joint (Nm or N).
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# The contact state describes
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# * the frame name
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# * the pose of the contact,
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# * the velocity of the contact, and
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# * the wrench of the contact
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# The header specifies the time at which the state is published.
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std_msgs/Header header
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# This represent the time state
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float64 time
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# This represents the base state (CoM motion, angular motion and centroidal momenta)
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whole_body_state_msgs/CentroidalState centroidal
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# This represents the joint state (position, velocity, acceleration and effort)
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whole_body_state_msgs/JointState[] joints
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# This represents the end-effector state (cartesian position and contact forces)
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whole_body_state_msgs/ContactState[] contacts
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