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Rename torque_command to direct_torque #362

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Merged
merged 4 commits into from
Sep 11, 2025
Merged

Rename torque_command to direct_torque #362

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ed66a7a
Rename torque_command to direct_torque
urfeex Jul 16, 2025
e571c4d
increase PolyScopeX required version to 10.11
urfeex Sep 2, 2025
650c636
Stop torque_control example after timeout
urfeex Sep 3, 2025
0f2424a
Increase required PolyScope 5 version to 5.23.0
urfeex Sep 3, 2025
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14 changes: 14 additions & 0 deletions examples/torque_control.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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");
Expand Down Expand Up @@ -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
Expand Down Expand Up @@ -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");
Expand Down
20 changes: 10 additions & 10 deletions resources/external_control.urscript
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Original file line number Diff line number Diff line change
Expand Up @@ -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)
Expand Down Expand Up @@ -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)
Expand Down
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