Direct torque control

[ggorjup]

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?

[abuibaid]

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

[urfeex]

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]

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