0x0613 - SetActuatorForceTorques
Description
This message defines the desired actuator forces (for each prismatic actuator) and the desired actuator torques (for each revolute actuator).
Structure
SetActuatorForceTorquesActuatorForceTorqueList
ActuatorForceTorqueList
Type: List
| Element Type | Count Type | Min Count | Max Count |
|---|---|---|---|
| ActuatorForceTorqueRec | uint8 | 0 | 255 |
ActuatorForceTorqueRec
Type: Record
| Field # | Field Name | Type | Units | Optional | Interpretation |
|---|---|---|---|---|---|
| 1 | JointForceTorque | false | Scaled integer representing the command force or torque for this joint. Each joint must have a corresponding entry in the list. Units and scale range are based on the joint type. |