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rafaelrojas

Hello all,
I'm currently learning to use the Real Time Data Exchange port of URControl. But in the documentation in
https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/real-time-data-exchange-rtde-guide-22229/ it is not clear how to command desired joint positions and velocities. In fact the registers for those variables are only mentioned as outputs. On the other hand, in the example_control_loop.py example, it seems that it is trying to move the robot in a not understandable way. Also in the youtube video https://www.youtube.com/watch?v=JVxYZbDpu_8  it is claimed that it is possible to control the robots joints using the RTDE in port 30004. Anyone knows how to do it?
Regards,
Rafael Rojas