This PR adds an example of force/torque actuation/readings using a KUKA LBR4

vrep/lbr4-torque-control/lbr4_torque_control.m

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+% Example of torque actuation and reading using a KUKA LBR4 robot.
+%
+% Usage:
+% 1) Open scene "lbr4_torque_control.ttt" on V-REP.
+% Available at: https://osf.io/gmhba/?view_only=e0122282979d43af93aa280cfd390df3
+% 2) Run this file.
+
+% (C) Copyright 2011-2024 DQ Robotics Developers
+% 
+% This file is part of DQ Robotics.
+% 
+% DQ Robotics is free software: you can redistribute it and/or modify
+% it under the terms of the GNU Lesser General Public License as published by
+% the Free Software Foundation, either version 3 of the License, or
+% (at your option) any later version.
+% 
+% DQ Robotics is distributed in the hope that it will be useful,
+% but WITHOUT ANY WARRANTY; without even the implied warranty of
+% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+% GNU Lesser General Public License for more details.
+% 
+% You should have received a copy of the GNU Lesser General Public License
+% along with DQ Robotics. If not, see <http://www.gnu.org/licenses/>.
+%
+% DQ Robotics website: dqrobotics.github.io
+%
+% Contributors to this file:
+% 1. Frederico Fernandes Afonso Silva ([email protected])
+% - Responsible for the original implementation.
+
+close all
+clear class
+clear all %#ok
+clc
+
+% use the namespace
+include_namespace_dq
+
+%% V-REP setup
+% Create a DQ_VrepInterface object and start communication with V-REP
+vi = DQ_VrepInterface();
+vi.connect('127.0.0.1',19997);
+disp('Communication established!')
+
+% Start simulation
+vi.set_synchronous(true);
+vi.start_simulation();
+disp('Simulation started!')
+
+% Define robot interface
+robot_name = 'LBR4p';
+for i=1:7
+ current_joint_name = {robot_name,'_joint',int2str(i)};
+ joint_names{i} = strjoin(current_joint_name,''); %#ok
+end
+
+%% Definition of the actuation torque
+tau = [-0.005; -25; 0; -30; -0.007; 0; 0];
+
+%% General variables
+iteration = 0;
+max_iteration = 10;
+
+%% Main loop
+while(iteration <= max_iteration)
+ % Robot actuation in V-REP
+ vi.set_joint_torques(joint_names, tau);
+ vi.trigger_next_simulation_step();
+ vi.wait_for_simulation_step_to_end();
+
+ formatSpec = 'Actuation torque sent to V-REP: %f\n';
+ fprintf(formatSpec,tau);
+ disp(' ')
+
+ % Read joint torques from V-REP
+ tau_read = vi.get_joint_torques(joint_names);
+
+ formatSpec = 'Joint torque read from V-REP: %f\n';
+ fprintf(formatSpec,tau_read);
+ disp(' ')
+
+ %% General messages
+ iteration = iteration + 1;
+
+ formatSpec = 'Iteration: %f\n';
+ fprintf(formatSpec,iteration);
+ disp(' ')
+end
+
+%% Finishes V-REP communication
+vi.stop_simulation();
+disp('Simulation finished!')
+vi.disconnect_all();
+disp('Communication finished!')