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- Torques are defined with two vectors similarly to Force definition. The first vector defines the torque vector while the second is the point of attack.

- The point of attack of a torque is meaningless from the point of view of dynamical calculation, since the torque vector is the same for every point of the rigid body. The point of attack is used when the icon of the torque vector is displayed, namely the center of the torque icon is equivalent with the point of attack.

- str1 is the full name of the link,whose LLRF is the coordinate's frame, where the torque vector (vec) is defined .

- vec 3 dimensional vector defining the torque vector.

- str2 is the full name of the link,whose LLRF is the coordinate's frame, where the point of attack vector (pointofAttack) is defined.

- pointofAttack 3 dimensional vector defining the point of attack of the torque.