RTDE: Add target_base_wrench field (UniversalRobots#539)

urfeex · web-flow · commit a63dd4a48383 · 2026-07-17T14:36:14.000+02:00
This field was added in 5.26 / 10.13
diff --git a/src/rtde/data_package.cpp b/src/rtde/data_package.cpp
@@ -455,6 +455,7 @@ std::unordered_map<std::string, DataPackage::_rtde_type_variant> DataPackage::g_
   { "target_gravity", vector3d_t() },
   { "target_base_acceleration", vector6d_t() },
   { "control_step", uint64_t() },
+  { "target_base_wrench", vector6d_t() },
 
   // NOT IN OFFICIAL DOCS
   { "tool_digital_output_mask", uint8_t() },
diff --git a/tests/resources/exhaustive_rtde_output_recipe.txt b/tests/resources/exhaustive_rtde_output_recipe.txt
@@ -403,3 +403,4 @@ time_scale_source
 target_gravity
 target_base_acceleration
 control_step
+target_base_wrench
