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ControlSignal: updated version #14

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ControlSignal: updated version #14

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10 changes: 7 additions & 3 deletions idls/ControlSignal.idl
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Original file line number Diff line number Diff line change
Expand Up @@ -9,9 +9,13 @@ module dls2_interface
unsigned long sequence_id;
double timestamp;

// data
sequence<double> torques;
unsigned long long signal_reconstruction_method;
uint8 control_mode;

sequence<double> joints_position;
sequence<double> joints_velocity;
sequence<double> joints_torques;
sequence<double> kp;
sequence<double> kd;
};
};
};
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