docs: def get_servo_torque(self):
          """ Gets the current torque of Herkulex
  
          Gives the current load on the servo shaft.
          It is actually the PWM value to the motors
  
          Args:
              none
  
          Returns:
              int: the torque on servo shaft. range from -1023 to 1023
  
          Raises:
              SerialException: Error occured while opening serial port
  
          """
          data = []
          data.append(0x09)
          data.append(self.servoid)
          data.append(RAM_READ_REQ)
          data.append(PWM_RAM)
          data.append(BYTE2)
          send_data(data)
          rxdata = []
          try:
              rxdata = SERPORT.read(13)
              if ord(rxdata[10])<=127:
                  return ((ord(rxdata[10])&0x03)<<8) | (ord(rxdata[9])&0xFF)
              else:
                  return (ord(rxdata[10])-0xFF)*0xFF + (ord(rxdata[9])&0xFF)-0xFF
          except HerkulexError:
              raise HerkulexError("could not communicate with motors")