Add torque control to urscript #325
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domire8
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Codecov ReportAll modified and coverable lines are covered by tests ✅
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## torque_control #325 +/- ##
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Coverage ? 81.46%
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Files ? 1
Lines ? 232
Branches ? 0
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Hits ? 189
Misses ? 43
Partials ? 0
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The PR adds
MODE_TORQUEto the supported control modes and extends the external control urscript with a torque thread that applies the latestcmd_tauas torque command.torque_commandalso has an optional parameterfriction_compthat might be worth parametrizing too, but I'm not sure what effect that had in the first place so I went hardcoded for an MVP.Let me know what you think about this and what might still be missing.