diff --git a/script/local.py b/script/local.py
index 776f5d7..5cfa75f 100644
--- a/script/local.py
+++ b/script/local.py
@@ -93,12 +93,21 @@ class RobotTCP(TcpDevice):
     
     def eval_int(self, cmd):
         ret = self.execute('eval', "n=" + cmd)
-        if ret.strip() != "":
-            raise Exception(ret)
+        if ret.strip() != "": raise Exception(ret)
         return self.get_int()
 
-    def get_move_id():
-        self.eval_int("getMoveId()")
+    def eval_float(self, cmd):
+        ret = self.execute('eval', "n=" + cmd)
+        if ret.strip() != "": raise Exception(ret)
+        return self.get_get_float()
+
+
+    def get_move_id(self):
+        return self.eval_int("getMoveId()")
+
+    def get_joint_forces(self):
+        robot_tcp.evaluate("getJointForce(arr)")        
+        return robot_tcp.get_float_arr(6)
         
     def mount(self, puck, sample):
         return self.execute('mount', puck, sample)