Add set_target_payload support to ScriptCommandInterface#515
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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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Cursor Bugbot has reviewed your changes using default effort and found 1 potential issue.
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| {% else %} | ||
| set_payload(mass, cog) | ||
| textmsg("PolyScope < 5.10.0. Inertia and transition_time ignored.") | ||
| {% endif %} |
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Missing PolyScope 3.15 gate
Medium Severity
set_target_payload availability is gated only on PolyScope 5.10+, but the API was also introduced in PolyScope 3.15. On 3.15+ CB3 robots, the script and fallback paths call set_payload instead, so inertia and transition_time from setTargetPayload are dropped while the call still succeeds.
Additional Locations (1)
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Otherwise this will affect other tests running on the same robot later.
2 participants
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, timed transitions), which affects motion and force behavior; version fallbacks limit inertia on older PolyScope but mass/CoG still apply.
Overview
Adds
setTargetPayload()onUrDriverandScriptCommandInterface, exposing URScriptset_target_payload()(mass, CoG, inertia, transition time) over the existing script-command socket as command 12 (SET_TARGET_PAYLOAD), mirroringsetPayload().The binary path encodes eleven payload fields plus transition time (
MULT_JOINTSTATE/MULT_TIME);external_control.urscriptdecodes them and callsset_target_payload()on PolyScope ≥ 5.10, otherwise falls back toset_payload()and logs that inertia and transition time are ignored.MULT_TIMEis moved toReverseInterface(removed fromTrajectoryPointInterface).Docs, the script-command example, and unit/integration tests cover encoding and driver behavior (connected interface and plain-script fallback).
Reviewed by Cursor Bugbot for commit a86f7b3. Bugbot is set up for automated code reviews on this repo. Configure here.