Get Target Joint Moments
SUMMARY
Get Target Joint Moments returns the joint torque (moment) setpoints currently commanded by the robot controller. These are the reference torques generated by the motion controller, not the values estimated from measured motor currents.
SUPPORTED ROBOTS
This skill is currently supported on Universal Robots only. Calling this method on other robot brands will raise a NotImplementedError.
The Skill
moments = robot.get_target_joint_moments()The Code
Example: Read Controller-Commanded Target Joint Moments
Connect to the robot, read the target joint moments, and log them.
from loguru import logger
from telekinesis.synapse.robots.manipulators import universal_robots
robot_ip = "192.168.1.2" # replace with your robot's IP
robot = universal_robots.UniversalRobotsUR10E()
# Connect
robot.connect(ip=robot_ip)
moments = robot.get_target_joint_moments()
logger.info(f"Target joint moments (Nm): {moments}")
# Disconnect
robot.disconnect()The Explanation of the Code
get_target_joint_moments reads the joint torque reference commands generated by the motion controller for each joint. The result is a 6-element list [τ1…τ6] in Newton-metres. These reflect the controller's commanded torque demand.
How to Tune the Parameters
This skill takes no parameters.
Return Value
| Type | Description |
|---|---|
list[float] | 6-element list [τ1…τ6] of controller-commanded joint torques [Nm]. |
Where to Use the Skill
- Torque demand monitoring — Observe commanded torques during motion for diagnostics and tuning
- Model validation — Compare commanded torques against model-predicted torques
When Not to Use the Skill
Do not use Get Target Joint Moments when:
- You need torque estimates from measured currents — use Get Actual Current as Torque instead
- You need measured joint torques — use Get Joint Torques instead