Rename torque_command to direct_torque (#362)

The script command has been renamed in the controller.

Author: urfeex

examples/torque_control.cpp

@@ -54,6 +54,13 @@ int main(int argc, char* argv[])
     robot_ip = std::string(argv[1]);
   }
 
+  // Parse how many seconds to run
+  auto second_to_run = std::chrono::seconds(0);
+  if (argc > 2)
+  {
+    second_to_run = std::chrono::seconds(std::stoi(argv[2]));
+  }
+
   bool headless_mode = true;
   g_my_robot = std::make_unique<urcl::ExampleRobotWrapper>(robot_ip, OUTPUT_RECIPE, INPUT_RECIPE, headless_mode,
                                                            "external_control.urp");
@@ -89,6 +96,7 @@ int main(int argc, char* argv[])
   // otherwise we will get pipeline overflows. Therefor, do this directly before starting your main
   // loop.
   g_my_robot->getUrDriver()->startRTDECommunication();
+  auto start_time = std::chrono::system_clock::now();
   while (!(passed_positive_part && passed_negative_part))
   {
     // Read latest RTDE package. This will block for a hard-coded timeout (see UrDriver), so the
@@ -140,6 +148,12 @@ int main(int argc, char* argv[])
       return 1;
     }
     URCL_LOG_DEBUG("data_pkg:\n%s", data_pkg->toString().c_str());
+    if (second_to_run.count() > 0 && (std::chrono::system_clock::now() - start_time) > second_to_run)
+    {
+      URCL_LOG_WARN("Time limit reached, stopping movement. This is expected on a simualted robot, as it doesn't move "
+                    "to torque commands.");
+      break;
+    }
   }
   g_my_robot->getUrDriver()->stopControl();
   URCL_LOG_INFO("Movement done");

resources/external_control.urscript

@@ -270,13 +270,13 @@ thread torqueThread():
   textmsg("ExternalControl: Starting torque thread")
   while control_mode == MODE_TORQUE:
     torque = cmd_torque
-    {% if ROBOT_SOFTWARE_VERSION >= v5.22.0 %} # ToDo: Increase to 5.23.0 once released
+    {% if ROBOT_SOFTWARE_VERSION >= v5.23.0 %}
       {% if ROBOT_SOFTWARE_VERSION < v6.0.0 %}
-    torque_command(torque, friction_comp=friction_compensation_enabled)
-      {% elif ROBOT_SOFTWARE_VERSION >= v10.10.0 %}
-    torque_command(torque, friction_comp=friction_compensation_enabled)
+    direct_torque(torque, friction_comp=friction_compensation_enabled)
+      {% elif ROBOT_SOFTWARE_VERSION >= v10.11.0 %}
+    direct_torque(torque, friction_comp=friction_compensation_enabled)
       {% else %}
-    popup("Torque control is only supported from software 10.10.0 and upwards.", error=True, blocking=True)
+    popup("Torque control is only supported from software 10.11.0 and upwards.", error=True, blocking=True)
       {% endif %}
     {% else %}
     popup("Torque control is only supported from software 5.23.0 and upwards.", error=True, blocking=True)
@@ -688,17 +688,17 @@ end
 thread PDControlThread():
   while control_mode == MODE_PD_CONTROLLER_JOINT or control_mode == MODE_PD_CONTROLLER_TASK: 
     local q_err = cmd_servo_q - get_actual_joint_positions()
-    {% if ROBOT_SOFTWARE_VERSION >= v5.22.0 %} # ToDo: Increase to 5.23.0 once released
+    {% if ROBOT_SOFTWARE_VERSION >= v5.23.0 %}
       {% if ROBOT_SOFTWARE_VERSION < v6.0.0 %}
     local tau = pd_controller_gains.kp * q_err - pd_controller_gains.kd  * get_actual_joint_speeds()
     tau = clamp_array(tau, max_joint_torques)
-    torque_command(tau, friction_comp=friction_compensation_enabled)
-      {% elif ROBOT_SOFTWARE_VERSION >= v10.10.0 %}
+    direct_torque(tau, friction_comp=friction_compensation_enabled)
+      {% elif ROBOT_SOFTWARE_VERSION >= v10.11.0 %}
     local tau = pd_controller_gains.kp * q_err - pd_controller_gains.kd  * get_actual_joint_speeds()
     tau = clamp_array(tau, max_joint_torques)
-    torque_command(tau, friction_comp=friction_compensation_enabled)
+    direct_torque(tau, friction_comp=friction_compensation_enabled)
       {% else %}
-    popup("Torque control is only supported from software 10.10.0 and upwards.", error=True, blocking=True)
+    popup("Torque control is only supported from software 10.11.0 and upwards.", error=True, blocking=True)
       {% endif %}
     {% else %}
     popup("Torque control is only supported from software 5.23.0 and upwards.", error=True, blocking=True)