GetRtTargetJointTorq

This command returns the current target (calculated) motor torques.

Syntax

GetRtTargetJointTorq()

Responses

• [2203][t, τ₁, τ₂, τ₃, τ₄]

  • t: timestamp in microseconds;

  • τ_i: 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 GetRtTargetJointTorq is represented by DynamicDataTypeID 33. See Section 4.4.6 for more details.