set joint torque

[SetpointDesign]

I see in uxbus_cmd.cc that at some point there was a function to set individual joint torques for the robot, and the function has been commented out. Is this functionality still possible with the underlying controller? is this going to be fixed in the API at some point?

// // this interface is no longer supported
// int UxbusCmd::set_servot(float jnt_taus[7]) {

Also is there any documentation about achievable update rates for setting torque?

I see from this issue that the maximum supported polling rate for reading position is 250hz.

[vimior]

@SetpointDesign
Sorry, this function requires specific firmware to support it, so this interface is commented out and not supported. Because it involves safety issues, there are no plans to open this for the time being.