Skip examples that require torque control on older PolyScope

Author: urfeex

examples/pd_controller_example.cpp

@@ -185,6 +185,17 @@ int main(int argc, char* argv[])
     return 1;
   }
 
+  {
+    auto robot_version = g_my_robot->getUrDriver()->getVersion();
+    if (robot_version < urcl::VersionInformation::fromString("5.23.0") ||
+        (robot_version.major > 5 && robot_version < urcl::VersionInformation::fromString("10.10.0")))
+    {
+      URCL_LOG_ERROR("This example requires a robot with at least version 5.23.0 / 10.10.0. Your robot has version %s.",
+                     robot_version.toString().c_str());
+      return 0;
+    }
+  }
+
   auto instruction_executor = std::make_shared<urcl::InstructionExecutor>(g_my_robot->getUrDriver());
 
   URCL_LOG_INFO("Move the robot to initial position");

examples/script_command_interface.cpp

@@ -78,8 +78,13 @@ void sendScriptCommands()
       g_my_robot->getUrDriver()->setPDControllerGains({ 500.0, 500.0, 300.0, 124.0, 124.0, 124.0 },
                                                       { 44.72, 44.72, 34.64, 22.27, 22.27, 22.27 });
     });
-    run_cmd("Setting max joint torques",
-            []() { g_my_robot->getUrDriver()->setMaxJointTorques({ 27.0, 27.0, 14.0, 4.5, 4.5, 4.5 }); });
+    auto robot_version = g_my_robot->getUrDriver()->getVersion();
+    if (robot_version > urcl::VersionInformation::fromString("10.10.0") ||
+        (robot_version.major == 5 && robot_version.minor >= 23))
+    {
+      run_cmd("Setting max joint torques",
+              []() { g_my_robot->getUrDriver()->setMaxJointTorques({ 27.0, 27.0, 14.0, 4.5, 4.5, 4.5 }); });
+    }
   }
   URCL_LOG_INFO("Script command thread finished.");
 }