0x4605 - ReportJointForceTorques
Description
This message provides the receiver with the current values of the torques applied to revolute joints and forces applied to prismatic joints of the manipulator.
Structure
ReportJointForceTorquesActuatorForceTorqueList
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. |