franky.CartesianImpedanceGains

class franky.CartesianImpedanceGains

Bases: pybind11_object

Runtime-adjustable stiffness and damping gains for Cartesian impedance motions.

static diagonal(stiffness: Annotated[numpy.typing.ArrayLike, numpy.float64, '[6, 1]'], damping: Annotated[numpy.typing.ArrayLike, numpy.float64, '[6, 1]'] | None = None) → franky._franky.CartesianImpedanceGains

Create gains from per-axis diagonal entries.

Parameters:

  • stiffness – Per-axis stiffness [N/m, Nm/rad], ordered [x, y, z, rx, ry, rz].

  • damping – Per-axis damping [Ns/m, Nms/rad], ordered [x, y, z, rx, ry, rz]. If unset, critical damping is used.

static isotropic(translational_stiffness: SupportsFloat | SupportsIndex, rotational_stiffness: SupportsFloat | SupportsIndex, translational_damping: SupportsFloat | SupportsIndex | None = None, rotational_damping: SupportsFloat | SupportsIndex | None = None) → franky._franky.CartesianImpedanceGains

Create gains with uniform translational and rotational components.

Parameters:

  • translational_stiffness – Stiffness applied to all translational axes [N/m].

  • rotational_stiffness – Stiffness applied to all rotational axes [Nm/rad].

  • translational_damping – Damping applied to all translational axes [Ns/m]. If unset, critical damping is used.

  • rotational_damping – Damping applied to all rotational axes [Nms/rad]. If unset, critical damping is used.

__init__(self: franky._franky.CartesianImpedanceGains, translational_stiffness: SupportsFloat | SupportsIndex = 500.0, rotational_stiffness: SupportsFloat | SupportsIndex = 50.0) → None

Construct isotropic gains with critical damping. Use the isotropic or diagonal factory functions for more control over the damping.

property damping

Cartesian damping matrix. If unset, critical damping is used.

property stiffness

Cartesian stiffness matrix [N/m, Nm/rad], ordered [x, y, z, rx, ry, rz].