Add set_target_payload support to ScriptCommandInterface#515
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## master #515 +/- ##
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- Coverage 77.66% 76.70% -0.97%
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Files 115 116 +1
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This is looking clean! I'm only wondering whether we should move the MULT_TIME up to ReverseInterface and re-use that for the transition time. I think, we should do that.
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Please also add documentation updates to script_command_interface.rst and add a command to the script_command_example,
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@urfeex Should we put somewhere that setPayload is deprecated? |
I would say let's not add a compile time deprecation. We could print a warning when |
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Description
Adds support for the URScript
set_target_payload()command through theScriptCommandInterface, allowing users to set the payload mass, center ofgravity, inertia matrix, and transition time.
This follows the same pattern as the existing
setPayload()implementation.Changes
include/ur_client_library/control/script_command_interface.h: AddedsetTargetPayload()declaration and theSET_TARGET_PAYLOAD = 12enum valueto
ScriptCommand.include/ur_client_library/ur/ur_driver.h: AddedsetTargetPayload()declaration to
UrDriver.src/control/script_command_interface.cpp: ImplementedScriptCommandInterface::setTargetPayload(), encoding mass, CoG (3 values),inertia matrix (6 values), and transition time into the binary message.
src/ur/ur_driver.cpp: ImplementedUrDriver::setTargetPayload().resources/external_control.urscript: AddedSET_TARGET_PAYLOAD = 12constant and the corresponding
elifbranch in thescript_commandsthreadto call
set_target_payload().tests/test_script_command_interface.cpp: Addedtest_set_target_payloadunit test verifying correct encoding of all fields(mass, CoG, inertia, transition time) and that unused message slots are zero.
Message layout for SET_TARGET_PAYLOAD
12)Notes
transition_timedefaults to0.0seconds (no transition).Related issues
UniversalRobots/Universal_Robots_ROS2_Driver#1711
Related PR (ur_ros2_driver): UniversalRobots/Universal_Robots_ROS2_Driver#1808
Tasks
Note
Medium Risk
Changes active payload modeling on the robot (mass, inertia, transition), which affects motion and force behavior; version fallbacks omit inertia on older PolyScope.
Overview
Adds
setTargetPayloadend-to-end so clients can set mass, CoG, inertia, and transition time via the script command socket (command 12), mirroring existingsetPayload.ScriptCommandInterfaceandUrDriverexpose the new API; the driver uses the binary interface when connected, otherwise emitsset_target_payload()(PolyScope ≥ 5.10) or falls back toset_payload()with a warning.external_control.urscriptdecodes the message and callsset_target_payload()on supported versions.MULT_TIMEmoves toReverseInterface(shared with script command encoding); docs and the script-command example are updated. Unit/integration tests cover wire format and fallback script paths.Reviewed by Cursor Bugbot for commit 8e57d54. Bugbot is set up for automated code reviews on this repo. Configure here.