franky.ManipulabilityTask

class franky.ManipulabilityTask

Bases: pybind11_object

Manipulability maximization objective projected into the Cartesian nullspace.

__init__(self: franky._franky.ManipulabilityTask, gain: SupportsFloat | SupportsIndex, damping: SupportsFloat | SupportsIndex = 0.0, max_torque: SupportsFloat | SupportsIndex | None = None) → None

property damping

Joint damping applied to this task before projection [Nms/rad].

property gain

Gain applied to the manipulability gradient.

property max_torque

Per-joint absolute torque clamp for this task [Nm]. Unset means no clamp.