franky.CartesianImpedanceMotionParams

class franky.CartesianImpedanceMotionParams

Bases: CartesianImpedanceParams

Parameters for the Cartesian impedance motion.

See also

CartesianImpedanceBase::Params

__init__(self: franky._franky.CartesianImpedanceMotionParams) → None

property damping

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

property force_constraints

Per-axis force/torque constraints [N, Nm]. nullopt on an axis means unconstrained.

property friction

Per-joint friction feedforward. Defaults to zero (disabled).

property nullspace_tasks

Nullspace objectives.

Each task contributes a joint-space torque that is summed and projected into the Jacobian nullspace. At most one task of each concrete type is supported because runtime-adjustable gains are shared by task type.

property rotational_error_clip

Maximum absolute Cartesian orientation error [rad] used by the task-space controller.

The rotational error is clamped elementwise in the base frame before the impedance wrench is computed. This bounds the commanded Cartesian torque.

property safety

Shared torque safety limits and soft joint-limit repulsion settings.

property stiffness

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

property target_type

The type of the target reference (relative or absolute).

property translational_error_clip

Maximum absolute Cartesian position error [m] used by the task-space controller.

The translational error is clamped elementwise before the impedance wrench is computed. This bounds the commanded Cartesian force when the reference jumps or contact prevents the end effector from reaching the target.