Inquiry Regarding RTDE Control Interface API for Direct Torque Control #352
Description
Feature summary
Hello,
I am a student currently attempting direct torque control on a UR5e robot. I am working in the PolyScope 5.22.0 beta environment.
I am using the RTDE Control Interface API to send torque commands to the robot.
I have written a simple example code that sets all joint torques to zero using #include <ur_rtde/rtde_control_interface.h>.
However, when I run the code, the robot vibrates excessively even with the slightest touch.
I am reaching out to ask if there are any solutions or advice regarding this issue.
Below is the code I have written:
Thank you for your attention.
#include <ur_rtde/rtde_control_interface.h>
#include <ur_rtde/rtde_receive_interface.h>
#include <vector>
#include <thread>
#include <atomic>
#include <csignal>
#include <chrono>
#include <iostream>
using namespace ur_rtde;
std::atomic<bool> running(true);
void signal_handler(int signal) {
if (signal == SIGINT) {
std::cout << "\nCtrl+C pressed, exiting..." << std::endl;
running = false;
}
}
int main(int argc, char* argv[]) {
std::cout << "Starting Torque Zero Command (C++)" << std::endl;
RTDEControlInterface rtde_control("192.168.235.5", 500.0, RTDEControlInterface::FLAG_USE_EXT_UR_CAP, 50002);
RTDEReceiveInterface rtde_receive("192.168.235.5", 500.0);
if (!rtde_receive.isConnected()) {
std::cerr << "[ERROR] RTDEReceiveInterface not connected!" << std::endl;
return 1;
}
if (!rtde_control.isConnected()) {
std::cerr << "[ERROR] RTDEControlInterface not connected!" << std::endl;
return 1;
}
std::cout << "Successfully connected to robot!\n";
std::signal(SIGINT, signal_handler);
const double dt = 1.0 / 500.0;
std::cout << "Start torque zero command loop (Ctrl+C to exit)\n";
while (running) {
auto t_start = rtde_control.initPeriod();
std::vector<double> tau_zero(6, 0.0);
rtde_control.torqueCommand(tau_zero, true);
rtde_control.waitPeriod(t_start);
}
rtde_control.stopScript();
std::cout << "Torque zero finished.\n";
return 0;
}