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[Transmissions] Add force and current interfaces #2588

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c2546cd
Add force and current interfaces to transmissions
jordan-palacios Sep 16, 2025
d6a2549
Fixed typo in exception message
jordan-palacios Sep 29, 2025
2c88988
Remove the commented lines in the test
saikishor Oct 6, 2025
4f29e5d
Merge branch 'master' into feat/force_and_current_interfaces
saikishor Oct 6, 2025
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68 changes: 65 additions & 3 deletions transmission_interface/include/transmission_interface/differential_transmission.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -168,12 +168,16 @@ class DifferentialTransmission : public Transmission
std::vector<JointHandle> joint_velocity_;
std::vector<JointHandle> joint_effort_;
std::vector<JointHandle> joint_torque_;
std::vector<JointHandle> joint_force_;
std::vector<JointHandle> joint_curret_;
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Suggested change
std::vector<JointHandle> joint_curret_;
std::vector<JointHandle> joint_current_;

std::vector<JointHandle> joint_absolute_position_;

std::vector<ActuatorHandle> actuator_position_;
std::vector<ActuatorHandle> actuator_velocity_;
std::vector<ActuatorHandle> actuator_effort_;
std::vector<ActuatorHandle> actuator_torque_;
std::vector<ActuatorHandle> actuator_force_;
std::vector<ActuatorHandle> actuator_current_;
std::vector<ActuatorHandle> actuator_absolute_position_;
};

Expand Down Expand Up @@ -236,12 +240,16 @@ void DifferentialTransmission::configure(
get_ordered_handles(joint_handles, joint_names, hardware_interface::HW_IF_VELOCITY);
joint_effort_ = get_ordered_handles(joint_handles, joint_names, hardware_interface::HW_IF_EFFORT);
joint_torque_ = get_ordered_handles(joint_handles, joint_names, hardware_interface::HW_IF_TORQUE);
joint_force_ = get_ordered_handles(joint_handles, joint_names, hardware_interface::HW_IF_FORCE);
joint_curret_ =
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Suggested change
joint_curret_ =
joint_current_ =

get_ordered_handles(joint_handles, joint_names, hardware_interface::HW_IF_CURRENT);
joint_absolute_position_ =
get_ordered_handles(joint_handles, joint_names, HW_IF_ABSOLUTE_POSITION);

if (
joint_position_.size() != 2 && joint_velocity_.size() != 2 && joint_effort_.size() != 2 &&
joint_torque_.size() != 2 && joint_absolute_position_.size() != 2)
joint_torque_.size() != 2 && joint_force_.size() != 2 && joint_curret_.size() != 2 &&
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Suggested change
joint_torque_.size() != 2 && joint_force_.size() != 2 && joint_curret_.size() != 2 &&
joint_torque_.size() != 2 && joint_force_.size() != 2 && joint_current_.size() != 2 &&

Comment on lines 249 to +251
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this means that the handles are mandatory, and not optional. Does this make sense here? Shouldn't this plugin be more general?

joint_absolute_position_.size() != 2)
{
throw Exception("Not enough valid or required joint handles were presented.");
}
Expand All @@ -254,13 +262,17 @@ void DifferentialTransmission::configure(
get_ordered_handles(actuator_handles, actuator_names, hardware_interface::HW_IF_EFFORT);
actuator_torque_ =
get_ordered_handles(actuator_handles, actuator_names, hardware_interface::HW_IF_TORQUE);
actuator_force_ =
get_ordered_handles(actuator_handles, actuator_names, hardware_interface::HW_IF_FORCE);
actuator_current_ =
get_ordered_handles(actuator_handles, actuator_names, hardware_interface::HW_IF_CURRENT);
actuator_absolute_position_ =
get_ordered_handles(actuator_handles, actuator_names, HW_IF_ABSOLUTE_POSITION);

if (
actuator_position_.size() != 2 && actuator_velocity_.size() != 2 &&
actuator_effort_.size() != 2 && actuator_torque_.size() != 2 &&
actuator_absolute_position_.size() != 2)
actuator_effort_.size() != 2 && actuator_torque_.size() != 2 && actuator_force_.size() != 2 &&
actuator_current_.size() != 2 && actuator_absolute_position_.size() != 2)
{
throw Exception(
fmt::format(
Expand All @@ -273,6 +285,8 @@ void DifferentialTransmission::configure(
joint_velocity_.size() != actuator_velocity_.size() &&
joint_effort_.size() != actuator_effort_.size() &&
joint_torque_.size() != actuator_torque_.size() &&
joint_force_.size() != actuator_force_.size() &&
joint_curret_.size() != actuator_current_.size() &&
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Suggested change
joint_curret_.size() != actuator_current_.size() &&
joint_current_.size() != actuator_current_.size() &&

joint_absolute_position_.size() != actuator_absolute_position_.size())
{
throw Exception(
Expand Down Expand Up @@ -335,6 +349,28 @@ inline void DifferentialTransmission::actuator_to_joint()
jr[1] * (act_tor[0].get_value() * ar[0] - act_tor[1].get_value() * ar[1]));
}

auto & act_for = actuator_force_;
auto & joint_for = joint_force_;
if (act_for.size() == num_actuators() && joint_for.size() == num_joints())
{
assert(act_for[0] && act_for[1] && joint_for[0] && joint_for[1]);

joint_for[0].set_value(
jr[0] * (act_for[0].get_value() * ar[0] + act_for[1].get_value() * ar[1]));
joint_for[1].set_value(
jr[1] * (act_for[0].get_value() * ar[0] - act_for[1].get_value() * ar[1]));
}

auto & act_cur = actuator_current_;
auto & joint_cur = joint_curret_;
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Suggested change
auto & joint_cur = joint_curret_;
auto & joint_cur = joint_current_;

if (act_cur.size() == num_actuators() && joint_cur.size() == num_joints())
{
assert(act_cur[0] && act_cur[1] && joint_cur[0] && joint_cur[1]);

joint_cur[0].set_value(act_cur[0].get_value() + act_cur[1].get_value());
joint_cur[1].set_value(act_cur[0].get_value() - act_cur[1].get_value());
}

auto & act_abs_pos = actuator_absolute_position_;
auto & joint_abs_pos = joint_absolute_position_;
if (act_abs_pos.size() == num_actuators() && joint_abs_pos.size() == num_joints())
Expand Down Expand Up @@ -404,6 +440,28 @@ inline void DifferentialTransmission::joint_to_actuator()
act_tor[1].set_value(
(joint_tor[0].get_value() / jr[0] - joint_tor[1].get_value() / jr[1]) / (2.0 * ar[1]));
}

auto & act_for = actuator_force_;
auto & joint_for = joint_force_;
if (act_for.size() == num_actuators() && joint_for.size() == num_joints())
{
assert(act_for[0] && act_for[1] && joint_for[0] && joint_for[1]);

act_for[0].set_value(
(joint_for[0].get_value() / jr[0] + joint_for[1].get_value() / jr[1]) / (2.0 * ar[0]));
act_for[1].set_value(
(joint_for[0].get_value() / jr[0] - joint_for[1].get_value() / jr[1]) / (2.0 * ar[1]));
}

auto & act_cur = actuator_current_;
auto & joint_cur = joint_curret_;
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Suggested change
auto & joint_cur = joint_curret_;
auto & joint_cur = joint_current_;

if (act_cur.size() == num_actuators() && joint_cur.size() == num_joints())
{
assert(act_cur[0] && act_cur[1] && joint_cur[0] && joint_cur[1]);

act_cur[0].set_value((joint_cur[0].get_value() + joint_cur[1].get_value()) / 2.0);
act_cur[1].set_value((joint_cur[0].get_value() - joint_cur[1].get_value()) / 2.0);
}
}

std::string DifferentialTransmission::get_handles_info() const
Expand All @@ -415,11 +473,15 @@ std::string DifferentialTransmission::get_handles_info() const
"Joint velocity: {}, Actuator velocity: {}\n"
"Joint effort: {}, Actuator effort: {}\n"
"Joint torque: {}, Actuator torque: {}\n"
"Joint force: {}, Actuator force: {}\n"
"Joint current: {}, Actuator current: {}\n"
"Joint absolute position: {}, Actuator absolute position: {}"),
to_string(get_names(joint_position_)), to_string(get_names(actuator_position_)),
to_string(get_names(joint_velocity_)), to_string(get_names(actuator_velocity_)),
to_string(get_names(joint_effort_)), to_string(get_names(actuator_effort_)),
to_string(get_names(joint_torque_)), to_string(get_names(actuator_torque_)),
to_string(get_names(joint_force_)), to_string(get_names(actuator_force_)),
to_string(get_names(joint_curret_)), to_string(get_names(actuator_current_)),
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to_string(get_names(joint_curret_)), to_string(get_names(actuator_current_)),
to_string(get_names(joint_current_)), to_string(get_names(actuator_current_)),

to_string(get_names(joint_absolute_position_)),
to_string(get_names(actuator_absolute_position_)));
}
Expand Down
37 changes: 33 additions & 4 deletions transmission_interface/include/transmission_interface/simple_transmission.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -135,12 +135,16 @@ class SimpleTransmission : public Transmission
JointHandle joint_velocity_ = {"", "", nullptr};
JointHandle joint_effort_ = {"", "", nullptr};
JointHandle joint_torque_ = {"", "", nullptr};
JointHandle joint_force_ = {"", "", nullptr};
JointHandle joint_current_ = {"", "", nullptr};
JointHandle joint_absolute_position_ = {"", "", nullptr};

ActuatorHandle actuator_position_ = {"", "", nullptr};
ActuatorHandle actuator_velocity_ = {"", "", nullptr};
ActuatorHandle actuator_effort_ = {"", "", nullptr};
ActuatorHandle actuator_torque_ = {"", "", nullptr};
ActuatorHandle actuator_force_ = {"", "", nullptr};
ActuatorHandle actuator_current_ = {"", "", nullptr};
ActuatorHandle actuator_absolute_position_ = {"", "", nullptr};
};

Expand Down Expand Up @@ -206,11 +210,13 @@ inline void SimpleTransmission::configure(
joint_velocity_ = get_by_interface(joint_handles, hardware_interface::HW_IF_VELOCITY);
joint_effort_ = get_by_interface(joint_handles, hardware_interface::HW_IF_EFFORT);
joint_torque_ = get_by_interface(joint_handles, hardware_interface::HW_IF_TORQUE);
joint_force_ = get_by_interface(joint_handles, hardware_interface::HW_IF_FORCE);
joint_current_ = get_by_interface(joint_handles, hardware_interface::HW_IF_CURRENT);
joint_absolute_position_ = get_by_interface(joint_handles, HW_IF_ABSOLUTE_POSITION);

if (
!joint_position_ && !joint_velocity_ && !joint_effort_ && !joint_torque_ &&
!joint_absolute_position_)
!joint_position_ && !joint_velocity_ && !joint_effort_ && !joint_torque_ && !joint_force_ &&
!joint_current_ && !joint_absolute_position_)
{
throw Exception("None of the provided joint handles are valid or from the required interfaces");
}
Expand All @@ -219,13 +225,16 @@ inline void SimpleTransmission::configure(
actuator_velocity_ = get_by_interface(actuator_handles, hardware_interface::HW_IF_VELOCITY);
actuator_effort_ = get_by_interface(actuator_handles, hardware_interface::HW_IF_EFFORT);
actuator_torque_ = get_by_interface(actuator_handles, hardware_interface::HW_IF_TORQUE);
actuator_force_ = get_by_interface(actuator_handles, hardware_interface::HW_IF_FORCE);
actuator_current_ = get_by_interface(actuator_handles, hardware_interface::HW_IF_CURRENT);
actuator_absolute_position_ = get_by_interface(actuator_handles, HW_IF_ABSOLUTE_POSITION);

if (
!actuator_position_ && !actuator_velocity_ && !actuator_effort_ && !actuator_torque_ &&
!actuator_absolute_position_)
!actuator_force_ && !actuator_current_ && !actuator_absolute_position_)
{
throw Exception("None of the provided joint handles are valid or from the required interfaces");
throw Exception(
"None of the provided actuator handles are valid or from the required interfaces");
}
}

Expand All @@ -251,6 +260,16 @@ inline void SimpleTransmission::actuator_to_joint()
joint_torque_.set_value(actuator_torque_.get_value() * reduction_);
}

if (joint_force_ && actuator_force_)
{
joint_force_.set_value(actuator_force_.get_value() * reduction_);
}

if (joint_current_ && actuator_current_)
{
joint_current_.set_value(actuator_current_.get_value());
}

if (joint_absolute_position_ && actuator_absolute_position_)
{
joint_absolute_position_.set_value(
Expand Down Expand Up @@ -279,6 +298,16 @@ inline void SimpleTransmission::joint_to_actuator()
{
actuator_torque_.set_value(joint_torque_.get_value() / reduction_);
}

if (joint_force_ && actuator_force_)
{
actuator_force_.set_value(joint_force_.get_value() / reduction_);
}

if (joint_current_ && actuator_current_)
{
actuator_current_.set_value(joint_current_.get_value());
}
}

} // namespace transmission_interface
Expand Down
101 changes: 101 additions & 0 deletions transmission_interface/test/differential_transmission_test.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,9 @@
#include "random_generator_utils.hpp"
#include "transmission_interface/differential_transmission.hpp"

using hardware_interface::HW_IF_CURRENT;
using hardware_interface::HW_IF_EFFORT;
using hardware_interface::HW_IF_FORCE;
using hardware_interface::HW_IF_POSITION;
using hardware_interface::HW_IF_TORQUE;
using hardware_interface::HW_IF_VELOCITY;
Expand Down Expand Up @@ -128,6 +130,8 @@ TEST(ConfigureTest, FailsWithBadHandles)
testConfigureWithBadHandles(HW_IF_VELOCITY);
testConfigureWithBadHandles(HW_IF_EFFORT);
testConfigureWithBadHandles(HW_IF_TORQUE);
testConfigureWithBadHandles(HW_IF_FORCE);
testConfigureWithBadHandles(HW_IF_CURRENT);
testConfigureWithBadHandles(HW_IF_ABSOLUTE_POSITION);
}

Expand Down Expand Up @@ -225,6 +229,7 @@ TEST_F(BlackBoxTest, IdentityMap)
testIdentityMap(transmission, input_value, HW_IF_VELOCITY);
testIdentityMap(transmission, input_value, HW_IF_EFFORT);
testIdentityMap(transmission, input_value, HW_IF_TORQUE);
testIdentityMap(transmission, input_value, HW_IF_FORCE);
}
}
}
Expand Down Expand Up @@ -293,6 +298,30 @@ TEST_F(WhiteBoxTest, DontMoveJoints)
EXPECT_THAT(0.0, DoubleNear(j_val[1], EPS));
}

// Force interface
{
auto a1_handle = ActuatorHandle("act1", HW_IF_FORCE, a_vec[0]);
auto a2_handle = ActuatorHandle("act2", HW_IF_FORCE, a_vec[1]);
auto joint1_handle = JointHandle("joint1", HW_IF_FORCE, j_vec[0]);
auto joint2_handle = JointHandle("joint2", HW_IF_FORCE, j_vec[1]);
trans.configure({joint1_handle, joint2_handle}, {a1_handle, a2_handle});
trans.actuator_to_joint();
EXPECT_THAT(0.0, DoubleNear(j_val[0], EPS));
EXPECT_THAT(0.0, DoubleNear(j_val[1], EPS));
}

// Current interface
{
auto a1_handle = ActuatorHandle("act1", HW_IF_CURRENT, a_vec[0]);
auto a2_handle = ActuatorHandle("act2", HW_IF_CURRENT, a_vec[1]);
auto joint1_handle = JointHandle("joint1", HW_IF_CURRENT, j_vec[0]);
auto joint2_handle = JointHandle("joint2", HW_IF_CURRENT, j_vec[1]);
trans.configure({joint1_handle, joint2_handle}, {a1_handle, a2_handle});
trans.actuator_to_joint();
EXPECT_THAT(0.0, DoubleNear(j_val[0], EPS));
EXPECT_THAT(0.0, DoubleNear(j_val[1], EPS));
}

// Absolute position interface
{
auto a1_handle = ActuatorHandle("act1", HW_IF_ABSOLUTE_POSITION, a_vec[0]);
Expand Down Expand Up @@ -365,6 +394,30 @@ TEST_F(WhiteBoxTest, MoveFirstJointOnly)
EXPECT_THAT(0.0, DoubleNear(j_val[1], EPS));
}

// Force interface
{
auto a1_handle = ActuatorHandle("act1", HW_IF_FORCE, a_vec[0]);
auto a2_handle = ActuatorHandle("act2", HW_IF_FORCE, a_vec[1]);
auto joint1_handle = JointHandle("joint1", HW_IF_FORCE, j_vec[0]);
auto joint2_handle = JointHandle("joint2", HW_IF_FORCE, j_vec[1]);
trans.configure({joint1_handle, joint2_handle}, {a1_handle, a2_handle});
trans.actuator_to_joint();
EXPECT_THAT(400.0, DoubleNear(j_val[0], EPS));
EXPECT_THAT(0.0, DoubleNear(j_val[1], EPS));
}

// Current interface
{
auto a1_handle = ActuatorHandle("act1", HW_IF_CURRENT, a_vec[0]);
auto a2_handle = ActuatorHandle("act2", HW_IF_CURRENT, a_vec[1]);
auto joint1_handle = JointHandle("joint1", HW_IF_CURRENT, j_vec[0]);
auto joint2_handle = JointHandle("joint2", HW_IF_CURRENT, j_vec[1]);
trans.configure({joint1_handle, joint2_handle}, {a1_handle, a2_handle});
trans.actuator_to_joint();
EXPECT_THAT(20.0, DoubleNear(j_val[0], EPS));
EXPECT_THAT(0.0, DoubleNear(j_val[1], EPS));
}

// Absolute position interface
{
auto a1_handle = ActuatorHandle("act1", HW_IF_ABSOLUTE_POSITION, a_vec[0]);
Expand Down Expand Up @@ -437,6 +490,30 @@ TEST_F(WhiteBoxTest, MoveSecondJointOnly)
EXPECT_THAT(400.0, DoubleNear(j_val[1], EPS));
}

// Force interface
{
auto a1_handle = ActuatorHandle("act1", HW_IF_FORCE, a_vec[0]);
auto a2_handle = ActuatorHandle("act2", HW_IF_FORCE, a_vec[1]);
auto joint1_handle = JointHandle("joint1", HW_IF_FORCE, j_vec[0]);
auto joint2_handle = JointHandle("joint2", HW_IF_FORCE, j_vec[1]);
trans.configure({joint1_handle, joint2_handle}, {a1_handle, a2_handle});
trans.actuator_to_joint();
EXPECT_THAT(0.0, DoubleNear(j_val[0], EPS));
EXPECT_THAT(400.0, DoubleNear(j_val[1], EPS));
}

// Current interface
{
auto a1_handle = ActuatorHandle("act1", HW_IF_CURRENT, a_vec[0]);
auto a2_handle = ActuatorHandle("act2", HW_IF_CURRENT, a_vec[1]);
auto joint1_handle = JointHandle("joint1", HW_IF_CURRENT, j_vec[0]);
auto joint2_handle = JointHandle("joint2", HW_IF_CURRENT, j_vec[1]);
trans.configure({joint1_handle, joint2_handle}, {a1_handle, a2_handle});
trans.actuator_to_joint();
EXPECT_THAT(0.0, DoubleNear(j_val[0], EPS));
EXPECT_THAT(20.0, DoubleNear(j_val[1], EPS));
}

// Absolute position interface
{
auto a1_handle = ActuatorHandle("act1", HW_IF_ABSOLUTE_POSITION, a_vec[0]);
Expand Down Expand Up @@ -514,6 +591,30 @@ TEST_F(WhiteBoxTest, MoveBothJoints)
EXPECT_THAT(520.0, DoubleNear(j_val[1], EPS));
}

// Force interface
{
auto a1_handle = ActuatorHandle("act1", HW_IF_FORCE, a_vec[0]);
auto a2_handle = ActuatorHandle("act2", HW_IF_FORCE, a_vec[1]);
auto joint1_handle = JointHandle("joint1", HW_IF_FORCE, j_vec[0]);
auto joint2_handle = JointHandle("joint2", HW_IF_FORCE, j_vec[1]);
trans.configure({joint1_handle, joint2_handle}, {a1_handle, a2_handle});
trans.actuator_to_joint();
EXPECT_THAT(140.0, DoubleNear(j_val[0], EPS));
EXPECT_THAT(520.0, DoubleNear(j_val[1], EPS));
}

// Current interface
{
auto a1_handle = ActuatorHandle("act1", HW_IF_CURRENT, a_vec[0]);
auto a2_handle = ActuatorHandle("act2", HW_IF_CURRENT, a_vec[1]);
auto joint1_handle = JointHandle("joint1", HW_IF_CURRENT, j_vec[0]);
auto joint2_handle = JointHandle("joint2", HW_IF_CURRENT, j_vec[1]);
trans.configure({joint1_handle, joint2_handle}, {a1_handle, a2_handle});
trans.actuator_to_joint();
EXPECT_THAT(8.0, DoubleNear(j_val[0], EPS));
EXPECT_THAT(-2.0, DoubleNear(j_val[1], EPS));
}

// Absolute position interface
{
auto a1_handle = ActuatorHandle("act1", HW_IF_ABSOLUTE_POSITION, a_vec[0]);
Expand Down
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