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Added support for force_mode, freedrive and tool contact #138

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merged 7 commits into from
Jun 23, 2023

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urmahp
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@urmahp urmahp commented Dec 28, 2022

This commit includes following changes:

  • New control mode for freedrive
  • New control mode for when the tool is in contact
  • Commands for stopping and starting tool contact
  • Commands for stopping and starting force mode
  • Added force_mode_damping and force_mode_gain_scaling to the constructor
  • Force mode gain scaling is only available for e-series and therefore it is removed from the control script, when the robot is not e-series
  • Tool contact example
  • Test for script command interface
  • Updated test for reverse interface

This PR will require some changes to the ROS and ROS2 drivers, in order for them to use the added commands.

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codecov bot commented Dec 28, 2022

Codecov Report

Patch coverage: 76.84% and project coverage change: +0.92 🎉

Comparison is base (2e69bc1) 77.48% compared to head (661870e) 78.41%.

❗ Current head 661870e differs from pull request most recent head 1790426. Consider uploading reports for the commit 1790426 to get more accurate results

Additional details and impacted files
@@            Coverage Diff             @@
##           master     #138      +/-   ##
==========================================
+ Coverage   77.48%   78.41%   +0.92%     
==========================================
  Files          95       98       +3     
  Lines        3939     4317     +378     
  Branches      385      432      +47     
==========================================
+ Hits         3052     3385     +333     
- Misses        662      686      +24     
- Partials      225      246      +21     
Impacted Files Coverage Δ
...lude/ur_client_library/control/reverse_interface.h 100.00% <ø> (ø)
include/ur_client_library/queue/atomicops.h 63.88% <ø> (-1.39%) ⬇️
src/ur/ur_driver.cpp 44.03% <25.00%> (-8.85%) ⬇️
examples/tool_contact_example.cpp 53.84% <53.84%> (ø)
src/control/script_command_interface.cpp 94.91% <93.65%> (+83.80%) ⬆️
src/control/reverse_interface.cpp 88.73% <95.45%> (+2.19%) ⬆️
tests/test_script_command_interface.cpp 96.68% <96.68%> (ø)
..._client_library/control/script_command_interface.h 100.00% <100.00%> (ø)
include/ur_client_library/ur/ur_driver.h 60.00% <100.00%> (+26.66%) ⬆️
tests/test_reverse_interface.cpp 98.10% <100.00%> (+0.91%) ⬆️

... and 1 file with indirect coverage changes

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@fmauch fmauch left a comment

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Thanks @urmahp for implementing this. From a first glance this looks pretty nice, though I haven't found the time to review this line by line, yet. I'd like to test this out on a real robot a bit before merging, though.

include/ur_client_library/comm/control_mode.h Outdated Show resolved Hide resolved
include/ur_client_library/ur/ur_driver.h Outdated Show resolved Hide resolved
include/ur_client_library/ur/ur_driver.h Outdated Show resolved Hide resolved
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Questions about behaviors.

resources/external_control.urscript Show resolved Hide resolved
src/control/script_command_interface.cpp Show resolved Hide resolved
This commit includes following changes:
 * New control mode for freedrive
 * New control mode for when the tool is in contact
 * Commands for stopping and starting tool contact
 * Commands for stopping and starting force mode
 * Added force_mode_damping and force_mode_gain_scaling to the constructor
 * Force mode gain scaling is only available for e-series and therefore it is removed from the control script, when the robot is not e-series
 * Tool contact example
 * Test for script command interface
 * Updated test for reverse interface
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I finally found the time to have a proper look at this. This seems to be implemented really well, thank you @urmahp! I'll give it a final test on real hardware tomorrow and we should be good to merge!

resources/external_control.urscript Show resolved Hide resolved
There was a copy&paste error in the error output. By using the fallback value directly, this is avoided, if the default value may ever change.
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fmauch commented Jun 22, 2023

I gave this intensive testing today and I think this is working well as expected, so we can merge it.

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3 participants