franky.FrictionCompensationParams¶

class franky.FrictionCompensationParams¶

Bases: pybind11_object

Per-joint friction feedforward settings for torque-control motions.

__init__(self: franky._franky.FrictionCompensationParams, coulomb: Annotated[collections.abc.Sequence[SupportsFloat | SupportsIndex], 'FixedSize(7)'] = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], viscous: Annotated[collections.abc.Sequence[SupportsFloat | SupportsIndex], 'FixedSize(7)'] = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], max_torque: Annotated[collections.abc.Sequence[SupportsFloat | SupportsIndex], 'FixedSize(7)'] = [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], velocity_epsilon: SupportsFloat | SupportsIndex = 0.03) → None¶

property max_torque¶: Absolute per-joint clamp for friction compensation in [Nm].

property velocity_epsilon¶: Velocity scale for the smooth Coulomb sign transition in [rad/s].