Direct torque friction scales support#445
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urrsk wants to merge 4 commits intoUniversalRobots:masterfrom
Open
Direct torque friction scales support#445urrsk wants to merge 4 commits intoUniversalRobots:masterfrom
urrsk wants to merge 4 commits intoUniversalRobots:masterfrom
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Add support for direct_torques new arguments: viscous_scale and coulomb_scale arguments. And mark the old friction_comp as deprecated.
Add a setTcpOffset to the script command interface documentation
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urfeex
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Feb 25, 2026
Codecov Report❌ Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## master #445 +/- ##
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- Coverage 76.21% 76.20% -0.01%
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Files 104 105 +1
Lines 5528 5551 +23
Branches 594 600 +6
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+ Hits 4213 4230 +17
- Misses 1016 1023 +7
+ Partials 299 298 -1
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Summary
This pull request introduces enhancements to the Direct Torque Control (DTC) arguments, enabling improved adjustments to the friction model's contribution. Additionally, the friction model itself has been significantly improved, resulting in better performance.
Key Updates
Version Availability
These updates are available starting from PolyScope version 5.25.1/10.12.1.
Beta Access
A beta version of PolyScope 5.25.1 is available for testing at:
https://ur.centercode.com/key/polyscope5beta