GetRtTargetJointTorq#

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

Syntax#

GetRtTargetJointTorq()

Responses#

  • [2203][t, τ1, τ2, τ3, τ4, τ5, τ6]

    • t: timestamp in microseconds;

    • τi: the torque of motor i as a signed percentage of the maximum allowable torque (i = 1, 2, …, 6).

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.