GetRtJointTorq#

This command returns the current joint torques, or more specifically, the current motor torques.

Syntax#

GetRtJointTorq()

Responses#

  • [2213][t, τ1, τ2, τ3, τ4]

    • t: timestamp in microseconds;

    • τi: the torque of motor i as a signed percentage of the maximum allowable torque (i = 1, 2, 3, 4).

Usage restrictions#

This command can be executed in any robot state.

Cyclic protocols#

In cyclic protocols, the command GetRtJointTorq is represented by DynamicDataTypeID 43. See Section 4.4.6 for more details.