Change control mode in Python for Torque mode

[Timozegu]

Dear Robotology community

I need to move the torque value of the different joints using python.
It was working using C++ but i can't seem to make it work on Python , as VOCAB_CM_TORQUE variable (Vocab32) cannot seem to be called.
Do you have an idea on how i can make the robots, joint's torque move?

Thank you,

Kind regards,

Tim

[traversaro]

It was working using C++ but i can't seem to make it work on Python , as VOCAB_CM_TORQUE variable (Vocab32) cannot seem to be called. Do you have an idea on how i can make the robots, joint's torque move?

Can you provide the code that you are tryng to run and the exact error you are getting? Thanks!

[Timozegu]

hello !
here is the code i am trying to work with ( the goal being to move the 4th joint of the right arm) :

import yarp;
import time;
import numpy as np;

yarp.Network.init();
 
props = yarp.Property()
props.put("device","remote_controlboard")
props.put("local","/client/right_arm")
props.put("remote","/icubSim/right_arm")
  
armDriver = yarp.PolyDriver(props)
 
iPos = armDriver.viewIPositionControl()
iVel = armDriver.viewIVelocityControl()
iTorque = armDriver.viewITorqueControl()
iEnc = armDriver.viewIEncoders()
iimp = armDriver.viewIImpedanceControl()
ictrl = armDriver.viewIControlMode()

jnts=iPos.getAxes()

iimp.setImpedance(4, 0.111, 0.014) 

encs=yarp.Vector(jnts)
iEnc.getEncoders(encs.data())
  
ictrl.setControlMode(4,VOCAB_CM_TORQUE);
jnt_torque = 3
iTorque.setRefTorque(4,jnt_torque)

this is based on the python tutorial.
and i get as an error :

Traceback (most recent call last):
  File "/home/timozegu/code/python/python-motor-control.py", line 35, in <module>
    ictrl.setControlMode(4,VOCAB_CM_TORQUE);
NameError: name 'VOCAB_CM_TORQUE' is not defined

it is working fine on c++ where do almost the same thing :

 ictrl->setControlMode(4,VOCAB_CM_TORQUE);

Thank you,

Tim

[traversaro]

In C++ VOCAB_CM_TORQUE is a preprocessor definition, so it is used without namespace. However, in Python it is wrapped as a normal constant, so it needs to be used as yarp.VOCAB_CM_TORQUE, see https://github.com/roboticslab-uc3m/tools/blob/878c99f6ee48051665afe487b17d6b5a415a18c7/programs/pidTuning.py#L80 or https://github.com/robotology/blender-robotics-utils/blob/8839079844acb6c3a91860276b083a9a06a4be4c/script/blenderRCBPanel/blenderRCBPanel.py#L121 for an example of the use of setControlMode in Python.

[Timozegu]

thank you very much for your answer, it worked !

Thank you :)

Tim