message: Set empty elbow when only Cartesian velocities are commanded.
diff: @@ -32,7 +32,6 @@ class FrankaCartesianPoseHandle : public FrankaStateHandle {
  * Sets the given command.
  *
  * @param[in] command Command to set.
  - * @param[in] elbow Elbow to set. Default none.
  */
  void setCommand(const std::array<double, 16>& command) noexcept {
  *command_ = command;
  @@ -92,7 +91,10 @@ class FrankaCartesianVelocityHandle : public FrankaStateHandle {
  *
  * @param[in] command Command to set.
  */
  - void setCommand(std::array<double, 6>& command) noexcept { *command_ = command; }
  + void setCommand(std::array<double, 6>& command) noexcept {
  + *command_ = command;
  + *elbow_ = {};
  + }
  /**
  * Sets the given command.
  