File: kuka_fri/ImpedanceCommand.msg
Raw Message Definition
float32[] velocity #joint velocity in rad/s
float32[] stiffness #joint stiffness in Nm/rad
float32[] damping #joint damping (normalized, 0.7 is critically dampped)
float32[] add_torque #additional joint torque in Nm
Compact Message Definition
float32[] velocity
float32[] stiffness
float32[] damping
float32[] add_torque