JointImpedanceControlCommand.Request

• Source proto: rb/api/basic_command.proto

Request payload for JointImpedanceControlCommand.

Field	Type	Label	Description
command_header	CommandHeader.Request
minimum_time	google.protobuf.Duration
position	double	repeated
velocity_limit	double	repeated
acceleration_limit	double	repeated
stiffness	double	repeated
damping_ratio	google.protobuf.DoubleValue		default = 1
torque_limit	double	repeated