Jogging Function

[woid0]

Hello,
I was wondering if it's possible to add a function for using the jogging feature of the robot. Would anyone have an idea what the message you send to the robot would need to look like? From looking at the CommunicationProtocollDs.py I would guess that the msg.id would be something like 73, however I don't know about the params and the rest of the message.
Any help would be much appreciated.

[woid0]

good approach can be seen on ZdenekM's fork