Add support for Constrained Freedrive

[urfeex]

Feature summary

Constrained Freedrive has been added since PolyScope 5.8. We should add support for that in the client_library, as well.

Basically, we would have to add the arguments for axis and pose in

Universal_Robots_Client_Library/src/control/reverse_interface.cpp

Line 171 in 02540be

bool ReverseInterface::writeFreedriveControlMessage(const FreedriveControlMessage freedrive_action,

Then, pack the data into the wire and unpack the data in

Universal_Robots_Client_Library/resources/external_control.urscript

Line 1072 in 02540be

if params_mult[2] == FREEDRIVE_MODE_START:

This would also require a check for CB3 robots and probably a feature flag for adding the script code.

Related issues

We've had this in mind for quite some time and I think it came up once or twice in the past, e.g. in

• https://forum.universal-robots.com/t/how-to-perform-constrained-freedrive-using-ur-client-library/42598

Tasks

To complete this issue involves

• Implement the feature
• Make documentation
• Make Unit test
• Make example
• Test on real hardware

[gncengineer]

Thanks for positing this here. Also one other thing regarding free drive that is mentioned in the example documentation https://github.com/UniversalRobots/Universal_Robots_Client_Library/blob/master/doc/examples/freedrive.rst is they say The joints move with little resistance because the brakes are released. but my experience with ur10e was it required no so little effort to move the robot compared to directly using the freedrive using GUI polyscope so I wonder if there is a difference.

[urfeex]

Thanks for positing this here. Also one other thing regarding free drive that is mentioned in the example documentation https://github.com/UniversalRobots/Universal_Robots_Client_Library/blob/master/doc/examples/freedrive.rst is they say The joints move with little resistance because the brakes are released. but my experience with ur10e was it required no so little effort to move the robot compared to directly using the freedrive using GUI polyscope so I wonder if there is a difference.

There should be no difference. But please let's keep this discussion in the thread that you've opened before (assuming, you're the same person).