franky.PostureTask

class franky.PostureTask

Bases: pybind11_object

Joint-posture objective projected into the Cartesian nullspace.

__init__(*args, **kwargs)

Overloaded function.

1. __init__(self: franky._franky.PostureTask, target: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, “[7, 1]”], stiffness: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, “[7, 1]”], damping: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, “[7, 1]”] | None = None, max_torque: typing.SupportsFloat | typing.SupportsIndex | None = None) -> None

2. __init__(self: franky._franky.PostureTask, target: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, “[7, 1]”], stiffness: typing.SupportsFloat | typing.SupportsIndex, damping: typing.SupportsFloat | typing.SupportsIndex | None = None, max_torque: typing.SupportsFloat | typing.SupportsIndex | None = None) -> None

Convenience constructor applying the same scalar gains to all joints.

property damping

Per-joint posture damping in [Nms/rad].

If unset, the controller uses critical damping, 2*sqrt(stiffness), per joint.

property max_torque

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

property stiffness

Per-joint posture stiffness in [Nm/rad].

A joint with zero stiffness is not pushed by this task. Note that the task torque is projected into the Jacobian nullspace, so pushing a single joint still moves all joints that participate in the self-motion.

property target

Preferred joint posture [rad].