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Direct torque control

Open ggorjup opened this issue 9 months ago • 3 comments

Feature summary

Hello, UR recently announced a new low-level torque interface, which is currently in early access and available through a beta version of Polyscope 5.

As I understand, the hardware interface currently supports position and velocity commands. Is adding support for torque control feasible / on the roadmap?

ggorjup avatar May 29 '25 21:05 ggorjup

Like eventually using effort commands WOAH that would be that coolest thing ever :D. I'm keen to see it working

abuibaid avatar May 30 '25 07:05 abuibaid

We do indeed have it on our plate. There is a beta branch in the client library already and an implementation here in the driver will follow in the next weeks. I'll try to remember posting here once the PR is there.

urfeex avatar Jun 02 '25 10:06 urfeex

Please see #1411 for a first implementation. That needs some polishing, hence the experimental state for now.

urfeex avatar Jun 17 '25 06:06 urfeex

This got merged in #1411

urfeex avatar Oct 15 '25 13:10 urfeex