lcmt_iiwa_command.lcm

package drake;

// Commands a single set of joint states for the arm.
struct lcmt_iiwa_command {
  // The timestamp in microseconds.
  int64_t utime;

  // The reference joint positions. They should always be sent regardless of
  // whether the arm is in position control mode or torque control mode.
  int32_t num_joints;
  double joint_position[num_joints];

  // The reference joint torques. They should only be sent when the arm is in
  // torque control mode.  When only positions are being sent, num_torques
  // should be set to zero.
  int32_t num_torques;
  double joint_torque[num_torques];
}