franky.JointReference

class franky.JointReference

Bases: pybind11_object

Joint-space reference for joint impedance motions.

The impedance controller tracks the joint position and velocity reference and adds the optional per- cycle feedforward torque term to the commanded torques.

__init__(self: franky._franky.JointReference, q: Annotated[numpy.typing.ArrayLike, numpy.float64, '[7, 1]'] | None = None, dq: Annotated[numpy.typing.ArrayLike, numpy.float64, '[7, 1]'] | None = None, tau_ff: Annotated[numpy.typing.ArrayLike, numpy.float64, '[7, 1]'] | None = None) → None

Construct a joint reference. Unset components default to zero.

property dq

Desired joint velocities [rad/s].

property q

Desired joint positions [rad].

property tau_ff

Feedforward torque added to the commanded torques [Nm].