franky.JointImpedanceParams

class franky.JointImpedanceParams

Bases: pybind11_object

Parameters for joint impedance motions.

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

property cartesian_gains

Optional Cartesian-space stiffness/damping projected through the current Jacobian.

property compensate_coriolis

Compensate Coriolis forces using the robot model.

property constant_torque_offset

Constant torque offset added to every command in [Nm].

property damping

Joint damping gains in [Nms/rad]. If unset, critical damping is tracked against the current (smoothed) stiffness.

property error_clip

Maximum absolute joint position error [rad] used by the joint-space controller.

property friction

Joint friction compensation settings.

property safety

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

property stiffness

Joint stiffness gains in [Nm/rad].