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BlindState and *Light msgs update #12

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Merged
MMarcus95 merged 1 commit into from
Aug 11, 2026
Merged

BlindState and *Light msgs update #12

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1 change: 1 addition & 0 deletions idls/BlindState.idl
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,7 @@ module dls2_interface
sequence<double> joints_temperature;
sequence<boolean> feet_contact;
sequence<double> current_feet_positions;
sequence<double> joints_current;
};
};
};
1 change: 1 addition & 0 deletions idls/DlsRobotStateLight.idl
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Expand Up @@ -14,6 +14,7 @@ module dls2_interface {

dls2_interface::msg::WrenchLight base_wrench;

sequence<dls2_interface::msg::Vec3> feet_position;
sequence<dls2_interface::msg::Vec3> feet_forces;
dls2_interface::msg::FrictionConeList friction_cones;

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5 changes: 1 addition & 4 deletions idls/ReferenceLight.idl
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Expand Up @@ -7,16 +7,13 @@ module dls2_interface {
module msg {
struct ReferenceLight
{
sequence<double> joint_torques;
dls2_interface::msg::JointStatesLight joints_state;

sequence<dls2_interface::msg::Vec3> feet_position;
sequence<dls2_interface::msg::Vec3> feet_forces;

dls2_interface::msg::Pose base_pose;
dls2_interface::msg::Screw base_velocity;

sequence<dls2_interface::msg::Pose> traj_poses;
sequence<dls2_interface::msg::Screw> traj_screws;
};
};
};
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