package drake;

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

  int32_t num_joints;
  double joint_position[num_joints];
  double joint_velocity[num_joints];

  int32_t num_fingers;
  double finger_position[num_fingers];
  double finger_velocity[num_fingers];
}
