OptimalControlCommand.Request

• Source proto: rb/api/basic_command.proto

Request payload for OptimalControlCommand.

Field	Type	Label	Description
command_header	CommandHeader.Request
cartesian_costs	OptimalControlCommand.CartesianCost	repeated
center_of_mass_cost	OptimalControlCommand.CenterOfMassCost
joint_position_costs	OptimalControlCommand.JointPositionCost	repeated
velocity_limit_scaling	google.protobuf.DoubleValue		velocity scaling factor: qdot_limit * default.velocity_limit_scaling * velocity_limit_scaling default: 1.0, range: (0, 1]
acceleration_limit_scaling	google.protobuf.DoubleValue		acceleration scaling factor: qddot_limit * default.acceleration_limit_scaling * acceleration_limit_scaling default: 1.0, range: (0, ∞)
velocity_tracking_gain	google.protobuf.DoubleValue		velocity tracking gain default: default.optimal_control_command.velocity_tracking_gain, range: (0, 1] DEPRECATED since 0.4.3 For robots prior to version 0.4.1, differences in the optimization method may cause unintended behavior if the value is used. Therefore, to prevent this issue, this value is forcibly set to 0.
error_scaling	google.protobuf.DoubleValue		Like step size, range: (0, ∞)
stop_cost	google.protobuf.DoubleValue		stop cost default: default.optimal_control_command.stop_cost, range: (0, ∞)
min_delta_cost	google.protobuf.DoubleValue		minimum delta cost, optional, range: (0, ∞)
patience	google.protobuf.Int32Value		patience parameter, optional, range: (0, ∞)