Constrained freedrive implementation

[srvald]

Description

This Pull Request introduces support for Constrained Freedrive mode in the ur_client_library. This feature allows users to lock specific axes during freedrive and define a custom reference feature pose.

Changes:

• UrDriver: Added writeConstrainedFreedriveControlMessage to expose the constrained freedrive interface to the user.
• ReverseInterface: Updated the communication protocol to include the new arguments (free axes and feature pose) in the command buffer sent to the robot.
• URScript: Updated external_control.urscript to parse the new buffer data and apply it to the freedrive_mode() URScript command.
• Examples: Updated freedrive_example.cpp to demonstrate both normal and constrained modes.
• Tests: Added unit tests in test_ur_driver.cpp and test_reverse_interface.cpp.

Protocol Details:

• Data Package Expansion: The communication buffer has been increased from 8 to 15 integers to accommodate the free_axes (6x int32) and feature_pose (6x int32 scaled by MULT_jointstate) arrays.

Testing Performed:

• Hardware Validation: Tested on a real robot running PolyScope X 10.12.1. The constrained freedrive was successfully activated, correctly respecting the locked axes and the reference frame.

• Unit Testing: All modified tests were executed using ctest.

  • ReverseInterfaceTest.write_constrained_freedrive_message: PASSED
  
  • UrDriverTest.robot_receive_timeout_off_headless: PASSED
  
  • UrDriverTest.robot_receive_timeout_headless: PASSED
  

---

Note

Medium Risk
Medium risk because it changes the reverse-interface wire protocol and the paired external_control.urscript parsing, so mismatched script/library versions or buffer sizing errors could break robot control flows.

Overview
Adds constrained freedrive by extending freedrive reverse-interface messages to include free_axes and feature_pose (buffer expanded from 8 to 15 int32s) and updating external_control.urscript to call freedrive_mode(free_axes, feature_pose).

Exposes the new capability via UrDriver::writeConstrainedFreedriveControlMessage, updates the freedrive example to toggle between normal and constrained modes via CLI args, and extends unit tests to cover the new message shape and timeout behavior.

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[codecov]

Codecov Report

❌ Patch coverage is 0% with 12 lines in your changes missing coverage. Please review.
✅ Project coverage is 16.51%. Comparing base (8f35234) to head (114c359).
⚠️ Report is 6 commits behind head on master.

Files with missing lines	Patch %	Lines
src/control/reverse_interface.cpp	0.00%	7 Missing ⚠️
src/ur/ur_driver.cpp	0.00%	3 Missing ⚠️
...lude/ur_client_library/control/reverse_interface.h	0.00%	1 Missing ⚠️
include/ur_client_library/ur/ur_driver.h	0.00%	1 Missing ⚠️

❗ There is a different number of reports uploaded between BASE (8f35234) and HEAD (114c359). Click for more details.

HEAD has 40 uploads less than BASE

Flag	BASE (8f35234)	HEAD (114c359)
python_scripts	2	1
start_ursim	6	1
ur5e-10.11.0	7	0
ur5e-10.12.0	7	0
ur5e-10.7.0	7	0
ur5e-5.9.4	7	0
ur20-latest	6	0

Additional details and impacted files

@@             Coverage Diff             @@
##           master     #507       +/-   ##
===========================================
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===========================================
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  Lines        6342     6376       +34     
  Branches     2761     2775       +14     
===========================================
- Hits         4881     1053     -3828     
- Misses       1112     5245     +4133     
+ Partials      349       78      -271     

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python_scripts	75.90% <ø> (ø)
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ur20-latest	?
ur5e-10.11.0	?
ur5e-10.12.0	?
ur5e-10.7.0	?
ur5e-5.9.4	?

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[cursor]

Cursor Bugbot has reviewed your changes using default mode and found 1 potential issue.

^{Reviewed by Cursor Bugbot for commit f664193. Configure here.}