franky.CartesianReference¶

class franky.CartesianReference¶

Bases: pybind11_object

Cartesian impedance reference expressed in the base frame.

__init__(self: franky._franky.CartesianReference, target: franky._franky.Affine = Affine(t=[0 0 0], q=[0 0 0 1]), target_twist: franky._franky.Twist | None = None, target_acceleration: franky._franky.TwistAcceleration | None = None) → None¶

property target_acceleration¶

Desired end-effector acceleration in the base frame.

When present, the controller adds a model-based inertial feedforward wrench Lambda(q) * target_acceleration before mapping through J^T.

property target_twist¶

Desired end-effector twist in the base frame.

When present, the damping term acts on twist error rather than resisting all motion toward zero.