Direct torque friction scales support#445
Merged
urfeex merged 7 commits intoUniversalRobots:masterfrom Mar 20, 2026
Merged
Conversation
Add support for direct_torques new arguments: viscous_scale and coulomb_scale arguments. And mark the old friction_comp as deprecated.
Add a setTcpOffset to the script command interface documentation
urrsk
force-pushed
the
direct_torque_friction_scales_support
branch
from
867b9d0 to
fe44230
Compare
urfeex
requested changes
Feb 25, 2026
Codecov Report❌ Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## master #445 +/- ##
==========================================
+ Coverage 76.59% 76.72% +0.13%
==========================================
Files 109 110 +1
Lines 5777 5810 +33
Branches 2560 2570 +10
==========================================
+ Hits 4425 4458 +33
+ Misses 1010 1007 -3
- Partials 342 345 +3
Flags with carried forward coverage won't be shown. Click here to find out more. ☔ View full report in Codecov by Sentry. |
urfeex
reviewed
Mar 4, 2026
urfeex
reviewed
Mar 18, 2026
Co-authored-by: Felix Exner <feex@universal-robots.com>
urfeex
approved these changes
Mar 18, 2026
Member
|
With 5.25.1 and 10.12.1 release, I will merge this. |
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
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
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Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be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.
Summary
This pull request introduces enhancements to the Direct Torque Control (DTC) arguments, enabling improved adjustments to the friction model's contribution. Additionally, the friction model itself has been significantly improved, resulting in better performance.
Key Updates
Version Availability
These updates are available starting from PolyScope version 5.25.1/10.12.1.
Beta Access
A beta version of PolyScope 5.25.1 is available for testing at:
https://ur.centercode.com/key/polyscope5beta