franky.SimpleTorqueParams

class franky.SimpleTorqueParams

Bases: pybind11_object

Parameters for SimpleTorqueMotion.

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

property compensate_coriolis

Compensate Coriolis forces using the robot model.

property friction

Joint friction compensation settings.

property initial_torque

Torque applied until the first torque signal arrives [Nm].

property safety

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

property signal_timeout

Maximum duration [s] the motion tolerates without receiving a new torque signal before it terminates with a TorqueSignalTimeoutException. The watchdog is armed when the motion starts, so the initial torque is only held for this duration as well. Set to nullopt to disable the watchdog and hold the last commanded torque indefinitely.