franky.NullspaceGains

class franky.NullspaceGains

Bases: pybind11_object

Runtime-adjustable gains for a nullspace task.

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

property manipulability_damping

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

property manipulability_gain

Gain applied to the manipulability gradient.

property manipulability_max_torque

Absolute torque clamp for the manipulability task [Nm]. Unset means no clamp.

property posture_damping

Per-joint posture damping [Nms/rad]. Accepts a scalar (applied to all joints), a 7-vector, or None for critical damping.

property posture_max_torque

Absolute torque clamp for the posture task [Nm]. Unset means no clamp.

property posture_stiffness

Per-joint posture stiffness [Nm/rad]. Accepts a scalar (applied to all joints) or a 7-vector.