Direct torque control #381
Merged
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
The PR adds `MODE_TORQUE` to the supported control modes and extends the external control urscript with a torque thread that applies the latest `cmd_torque` as torque command.
This adds an example for using the script_command interface.
UniversalRobots#336) …oller in task space The pd controller in joint space will accept joint targets and compute joint torques based on PD control scheme. The pd controller in task space will accept task space targets and use inverse kinematics to compute joint targets which are then used to compute joint torques based on PD control scheme. --------- Co-authored-by: Felix Exner <feex@universal-robots.com>
…niversalRobots#342) Co-authored-by: Felix Exner <feex@universal-robots.com>
…versalRobots#348) This way all non-torque-control-related things should work on software versions not supporting torque control
Add an example using direct torque control.
And move clang-tidy check out of the industrial_ci run
This reverts commit c0d4ee5.
…UniversalRobots#356) Temporarily relax the version check for torque control features. The torque control features will be available from 5.23.0 on. However, as we are currently running a public beta program, where the reported software version is 5.22.0 we should relax the version check until 5.23.0 is actually released.
To make it easier to change the example for manual testing, let's define the target torque's absolute value in one place only.
The function names didn't match this repo's style guide.
The script command has been renamed in the controller.
It is still planned to add the PD controller. However, we would like it not to postpone merging torque_control to master.
torque control is now available in released software versions, the API is considered stable and we do have documentation available.
Codecov Report❌ Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## master #381 +/- ##
==========================================
- Coverage 77.86% 77.64% -0.23%
==========================================
Files 92 92
Lines 4166 4192 +26
Branches 461 465 +4
==========================================
+ Hits 3244 3255 +11
- Misses 684 695 +11
- Partials 238 242 +4
Flags with carried forward coverage won't be shown. Click here to find out more. ☔ View full report in Codecov by Sentry. |
urmahp
requested changes
Sep 29, 2025
Co-authored-by: Mads Holm Peters <79145214+urmahp@users.noreply.github.com>
urmahp
approved these changes
Sep 30, 2025
|
I think, we should make sure that all tests succeed before merging. It seems like we need to skip a couple of tests on "older" software versions. |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This branch adds direct torque control to the client library. This is a sub-feature of the torque_control branch, basically not including the impedance-like PD controller.
This PR adds the functionality to command the robot by sending joint torques directly.