franky.JointImpedanceGains

class franky.JointImpedanceGains

Bases: pybind11_object

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

__init__(self: franky._franky.JointImpedanceGains, stiffness: Annotated[numpy.typing.ArrayLike, numpy.float64, '[7, 1]'] | None = None, damping: Annotated[numpy.typing.ArrayLike, numpy.float64, '[7, 1]'] | None = None) → None

Construct joint impedance gains. If stiffness is unset, the default stiffness is used. If damping is unset (None), critical damping is tracked against the current stiffness in the control loop.

property damping

Joint damping gains [Nms/rad]. If unset, the controller tracks critical damping, 2*sqrt(stiffness), against the current (smoothed) stiffness every control cycle, so damping stays critical through gain transitions.

property stiffness

Joint stiffness gains [Nm/rad].