MeasureManipulation

lebai-robotics · Dec 24, 2024 · ffdeb18 · ffdeb18
1 parent f93afdd
commit ffdeb18
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/posture.proto b/posture.proto
@@ -164,6 +164,9 @@ message GetPoseAddRequest {
   // 在frame姿态方向的增量
   Pose delta = 2;
 }
+message Manipulation{
+  double manipulation = 1;
+}
 
 // 位姿算法相关服务
 service PostureService {
@@ -180,6 +183,8 @@ service PostureService {
   // 查询特征列表
   rpc LoadFrameList(db.LoadListRequest) returns (db.LoadListResponse);
 
+  // 估算关节位置的灵活性
+  rpc MeasureManipulation(JointPose) returns (Manipulation);
   // 正解
   rpc GetForwardKin(PoseRequest) returns (CartesianPose);
   // 反解