GetRtJointPos#

This command returns the current joint set read by the joint encoders. It also returns a timestamp.

Syntax#

GetRtJointPos()

Responses#

  • [2210][t, θ1, θ2, θ3, θ4, θ5, θ6]

    • t: timestamp in microseconds;

    • θi: the angle of joint i, in degrees;

Usage restrictions#

This command can be executed in any robot state.

Cyclic protocols#

In cyclic protocols, the command GetRtJointPos is represented by DynamicDataTypeID 40. See Section 4.4.6 for more details.