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Read/Write Torque in a Joint

Hi, I have to implement a YARP interface in order to permit Joint Torque Control. Actually I don't understand which class and method I have to use in GAZEBO to do this. I am trying different things combining JointPtr and JointCmd but I do not understand from which I can take the torque that the joint is providing and from which I can set a reference torque. Any suggestion? Thank you

Enrico