TorsoCommand.Request

• Source proto: rb/api/torso_command.proto

Request payload for TorsoCommand.

Field	Type	Label	Description
command_header	CommandHeader.Request
joint_position_command	JointPositionCommand.Request
gravity_compensation_command	GravityCompensationCommand.Request
cartesian_command	CartesianCommand.Request
impedance_control_command	ImpedanceControlCommand.Request
optimal_control_command	OptimalControlCommand.Request
joint_impedance_control_command	JointImpedanceControlCommand.Request
cartesian_impedance_control_command	CartesianImpedanceControlCommand.Request
joint_group_position_command	JointGroupPositionCommand.Request