From ba890e3988cd7f1cef31d0bad20f5618da8298b6 Mon Sep 17 00:00:00 2001
From: mich-pest <michele.pestarino@outlook.it>
Date: Tue, 11 Aug 2026 16:33:39 +0200
Subject: [PATCH] ControlSignal: updated version

---
 idls/ControlSignal.idl | 10 +++++++---
 1 file changed, 7 insertions(+), 3 deletions(-)

diff --git a/idls/ControlSignal.idl b/idls/ControlSignal.idl
index 2a5aa37..87cbc4b 100644
--- a/idls/ControlSignal.idl
+++ b/idls/ControlSignal.idl
@@ -9,9 +9,13 @@ module dls2_interface
       unsigned long sequence_id;
       double timestamp;
 
-      // data
-      sequence<double> torques;
-      unsigned long long signal_reconstruction_method;
+      uint8 control_mode;
+
+      sequence<double> joints_position;
+      sequence<double> joints_velocity;
+      sequence<double> joints_torques;
+      sequence<double> kp;
+      sequence<double> kd;
     };
   };
 };