package drake;

struct lcmt_planar_gripper_finger_command
{
  // Only used when the planar gripper is in joint position control mode.
  // Otherwise, ignored.
  double joint_position[2];
  double joint_velocity[2];

  // Only used when the planar gripper is in joint torque control mode.
  // Otherwise, ignored.
  double joint_torque[2];
}
