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Hello all,
I'm currently learning to use the Real Time Data Exchange port of URControl. But in the documentation in 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, it seems that it is trying to move the robot in a not understandable way. Also in the youtube video  it is claimed that it is possible to control the robots joints using the RTDE in port 30004. Anyone knows how to do it?
Rafael Rojas