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RSDK-13810-MoveOptions-TCP-Speed #839

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RSDK-13810-MoveOptions-TCP-Speed #839

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11 changes: 11 additions & 0 deletions proto/viam/component/arm/v1/arm.proto
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Original file line number Diff line number Diff line change
Expand Up @@ -172,15 +172,26 @@ message IsMovingResponse {
bool is_moving = 1;
}

// MoveOptions specifies kinematic constraints for an arm motion. All fields
// are optional ceilings; any combination may be set. Every constraint that
// is set is respected at every point along the executed trajectory.
// The limiting constraint may change throughout execution.
message MoveOptions {
// Maximum allowable velocity of an arm joint, in degrees per second.
// The arm driver will move as fast as possible up to the set value.
// Ignored when max_vel_degs_per_sec_joints is set.
optional double max_vel_degs_per_sec = 1;
// Maximum allowable acceleration of an arm joint, in degrees per second squared.
// The arm driver will accelerate as fast as possible up to the set value.
// ignored when max_acc_degs_per_sec2_joints is set.
optional double max_acc_degs_per_sec2 = 2;
// Per-joint maximum velocity in degrees per second.
// The arm driver will move each joint as fast as possible up to its respective set value.
repeated double max_vel_degs_per_sec_joints = 3;
// Per-joint maximum acceleration in degrees per second squared.
// The arm driver will accelerate each joint as fast as possible up to its respective set value.
repeated double max_acc_degs_per_sec2_joints = 4;
// Maximum allowable speed of an arm's tool center point in meters per second.
// The arm driver will move the tool center point as fast as possible up to this set value.
optional double max_tcp_speed = 5;
}
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