From 1f1427637982e7d023cea7a195f3723e67a3b20b Mon Sep 17 00:00:00 2001
From: Felix Exner <feex@universal-robots.com>
Date: Fri, 17 Jul 2026 11:10:48 +0200
Subject: [PATCH] RTDE: Add target_base_wrench field

This field was added in 5.26 / 10.13
---
 src/rtde/data_package.cpp                         | 1 +
 tests/resources/exhaustive_rtde_output_recipe.txt | 1 +
 2 files changed, 2 insertions(+)

diff --git a/src/rtde/data_package.cpp b/src/rtde/data_package.cpp
index c1eac2e6e..b2abff24d 100644
--- 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
index 1297e919b..0389879b9 100644
--- 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