Rename torque_command to direct_torque #362
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Codecov Report✅ All modified and coverable lines are covered by tests. Additional details and impacted files@@ Coverage Diff @@
## torque_control #362 +/- ##
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Coverage ? 76.76%
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Files ? 92
Lines ? 4218
Branches ? 459
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Hits ? 3238
Misses ? 746
Partials ? 234
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URJala
approved these changes
Jul 30, 2025
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I'm not sure whether that change as made it to the PolyScope 5 Beta program, so I'm a bit hesitating on merging this. |
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Ready to merge this now. |
The script command has been renamed in the controller.
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direct_torque is only available from 10.11 on.
On a simulated robot, torque_control commands don't have any effect. As a result, the torque_control example runs forever when being run on a simulated robot. This commit makes it use the second argument as a timeout after which the example is stopped. If the timeout is hit, it will print a warning stating that this is expected on a simulated robot. This should make the behavior similar to the other examples and make the CI run with that example.
Now that 5.23.0 is released, we can increase the version requirement properly.
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The script command has been renamed in the controller.