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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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8 changes: 4 additions & 4 deletions resources/external_control.urscript
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Original file line number Diff line number Diff line change
Expand Up @@ -272,9 +272,9 @@ thread torqueThread():
torque = cmd_torque
{% if ROBOT_SOFTWARE_VERSION >= v5.22.0 %} # ToDo: Increase to 5.23.0 once released
{% if ROBOT_SOFTWARE_VERSION < v6.0.0 %}
torque_command(torque, friction_comp=friction_compensation_enabled)
direct_torque(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)
{% else %}
popup("Torque control is only supported from software 10.10.0 and upwards.", error=True, blocking=True)
{% endif %}
Expand Down Expand Up @@ -692,11 +692,11 @@ thread PDControlThread():
{% 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)
direct_torque(tau, friction_comp=friction_compensation_enabled)
{% elif ROBOT_SOFTWARE_VERSION >= v10.10.0 %}
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)
{% endif %}
Expand Down
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