package gazebo.msgs;

/// \ingroup gazebo_msgs
/// \interface JointCmd
/// \brief Message for joint command, used by physics::JointControlWidget


import "pid.proto";

message JointCmd
{
  required string name     = 1;
  optional int32 axis      = 2 [default=0];
  optional double force    = 3;

  optional PID position    = 4;
  optional PID velocity    = 5;
  optional bool reset      = 6;
}
