franky.CartesianImpedanceBase

class franky.CartesianImpedanceBase

Bases: BaseTorqueMotion

Base class for client-side cartesian impedance motions.

This motion implements a cartesian impedance controller on the client side and does not use Franka’s internal impedance controller. Instead, it uses Franka’s internal torque controller and calculates the torques itself.

__init__(*args, **kwargs)

add_reaction(self: franky._franky.BaseTorqueMotion, reaction: franky._franky.TorqueReaction) → None

Add a reaction to the motion.

Reactions are evaluated in every step of the motion and can replace the current motion with a new motion.

Parameters:

reaction – The reaction to add.

Warning

Do not call this function synchronously from a condition, motion function, or reaction callback while this motion’s reactions are being evaluated. Reaction evaluation holds the reaction-list mutex, so doing so would deadlock.

get_gains(self: franky._franky.CartesianImpedanceBase) → franky._franky.CartesianImpedanceGains

Get a copy of the current target impedance gains.

Mutating the returned object has no effect on the motion; pass it to setGains to apply changes.

get_nullspace_gains(self: franky._franky.CartesianImpedanceBase) → franky._franky.NullspaceGains

Get a copy of the current target nullspace gains.

Mutating the returned object has no effect on the motion; pass it to setNullspaceGains to apply changes.

register_callback(self: franky._franky.BaseTorqueMotion, callback: collections.abc.Callable[[franky._franky.RobotState, franky._franky.Duration, franky._franky.Duration, franky._franky.Duration, franky._franky.Torques], None]) → None

Register a callback that is called in every step of the motion.

Parameters:

callback – The callback to register. Callbacks are called with the robot state, the time step [s], the relative time [s], the absolute time [s] and the control signal computed in this step.

set_gains(self: franky._franky.CartesianImpedanceBase, gains: franky._franky.CartesianImpedanceGains) → None

Set the target impedance gains.

The gains are validated and then smoothed in the control loop via exponential interpolation.

Parameters:

gains – The new target gains.

set_nullspace_gains(self: franky._franky.CartesianImpedanceBase, gains: franky._franky.NullspaceGains) → None

Set the target nullspace gains.

The gains are smoothed in the control loop via exponential interpolation.

Parameters:

gains – The new target nullspace gains.

property reactions

Currently registered reactions of the motion.