string FULL=full
string GRAVITY=gravity
string INERTIA=inertia
string NONE=none
std_msgs/Header header
string[] name
float64[] desiredPosition
float64[] desiredPositionVelocityLimit
float64[] feedForwardTorque
float64[] proportionalGain
float64[] derivativeGain
float64[] integralGain
float64[] positionLoopTorqueLimit
float64[] positionLoopWindupLimit
float64[] torqueLoopVelocityLimit