package drake;

// Commands a single set of joint states for the planar gripper.  All angular
// positions/velocities are expressed in radians and radians/second.
struct lcmt_planar_gripper_command {
  // The timestamp in microseconds.
  int64_t utime;

  // The planar gripper consists of N fingers, each finger consists of two
  // actuated joints.
  int8_t num_fingers;
  
  lcmt_planar_gripper_finger_command finger_command[num_fingers];
}
