From f93afdd04bdc2d8148caf2c9492e405e9380efa7 Mon Sep 17 00:00:00 2001
From: rise0chen <rise0chen@163.com>
Date: Wed, 11 Dec 2024 07:11:04 +0000
Subject: [PATCH] SetForceModeParam

---
 motion.proto | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/motion.proto b/motion.proto
index 1810b57..22cd657 100644
--- a/motion.proto
+++ b/motion.proto
@@ -128,12 +128,14 @@ message ForceModeParam {
   double mass = 3;
 }
 message SetForceModeParamRequest {
-  // 启动力阈值
-  optional double threshold = 1;
   // 阻尼系数
   optional double damping = 2;
   // 物体重量
   optional double mass = 3;
+  // 启动力阈值
+  optional double force_threshold = 10;
+  // 启动力矩阈值
+  optional double torque_threshold = 11;
 }
 
 // 机器人运动相关服务