GetRtTargetJointPos#

This command returns the current target joint set.

Syntax#

GetRtTargetJointPos()

Responses#

  • [2200][t, θ1, θ2, θ3, θ4, θ5, θ6]

    • t: timestamp in microseconds;

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

Note

The deprecated GetJoints command, which remains supported, returns the same data, except for the timestamp. The message ID is also different, being 2026.

Usage restrictions#

This command can be executed in any robot state.

Cyclic protocols#

In cyclic protocols, the command GetRtTargetJointPos is represented by the TargetJointSet section (see Section 4.5.3).