Rename torque_command to direct_torque

The script command has been renamed in the controller.

Author: urfeex

resources/external_control.urscript

@@ -272,9 +272,9 @@ thread torqueThread():
     torque = cmd_torque
     {% if ROBOT_SOFTWARE_VERSION >= v5.22.0 %} # ToDo: Increase to 5.23.0 once released
       {% if ROBOT_SOFTWARE_VERSION < v6.0.0 %}
-    torque_command(torque, friction_comp=friction_compensation_enabled)
+    direct_torque(torque, friction_comp=friction_compensation_enabled)
       {% elif ROBOT_SOFTWARE_VERSION >= v10.10.0 %}
-    torque_command(torque, friction_comp=friction_compensation_enabled)
+    direct_torque(torque, friction_comp=friction_compensation_enabled)
       {% else %}
     popup("Torque control is only supported from software 10.10.0 and upwards.", error=True, blocking=True)
       {% endif %}
@@ -692,11 +692,11 @@ thread PDControlThread():
       {% if ROBOT_SOFTWARE_VERSION < v6.0.0 %}
     local tau = pd_controller_gains.kp * q_err - pd_controller_gains.kd  * get_actual_joint_speeds()
     tau = clamp_array(tau, max_joint_torques)
-    torque_command(tau, friction_comp=friction_compensation_enabled)
+    direct_torque(tau, friction_comp=friction_compensation_enabled)
       {% elif ROBOT_SOFTWARE_VERSION >= v10.10.0 %}
     local tau = pd_controller_gains.kp * q_err - pd_controller_gains.kd  * get_actual_joint_speeds()
     tau = clamp_array(tau, max_joint_torques)
-    torque_command(tau, friction_comp=friction_compensation_enabled)
+    direct_torque(tau, friction_comp=friction_compensation_enabled)
       {% else %}
     popup("Torque control is only supported from software 10.10.0 and upwards.", error=True, blocking=True)
       {% endif %}