Direct torque control - #381

Merged

urfeex merged 27 commits into

UniversalRobots:masterfrom

urfeex:direct_torque_control

Oct 2, 2025

Commits on May 15, 2025

Add notice about torque_control beta status
urfeex
committed

Commits on May 19, 2025

Added command to set friction compensation for the torque command (#323)
urmahp
authored

Commits on May 20, 2025

Commits on May 27, 2025

Merge latest developments from master
urfeex
authored

Commits on Jun 5, 2025

Added two new control modes PD controller in joint space and PD contr… (#336)

urmahp
and
urfeex
authored
Added commands to set pd controller gains and maximum joint torques (#342)

urmahp
and
urfeex
authored

Commits on Jun 25, 2025

Merge remote-tracking branch 'origin/master' into torque_control
urfeex
committed

Commits on Jul 3, 2025

Commits on Jul 17, 2025

Commits on Sep 11, 2025

Rename torque_command to direct_torque (#362)
urfeex
authored

Commits on Sep 22, 2025

Commits on Sep 30, 2025