package drake;

struct lcmt_schunk_wsg_status
{
  int64_t utime;  //< The timestamp in microseconds.

  double actual_position_mm;

  // The combined force being applied by both gripper fingers in newtons.
  // While some implementations may report a negative value for this field
  // under some circumstances, it should always be interpreted as an unsigned
  // quantity (absolute value).
  double actual_force;
  double actual_speed_mm_per_s;
}
