franky.TorqueSafetyParams

class franky.TorqueSafetyParams

Bases: pybind11_object

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

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

property joint_limit_activation_distance

Activation distance from a limit in [rad].

property joint_limit_damping

Additional damping when moving into a limit in [Nms/rad].

property joint_limit_max_torque

Absolute torque clamp for the repulsion term in [Nm].

property joint_limit_stiffness

Base repulsion gain in [Nm].

property lower_joint_limits

Lower soft joint limits in [rad]. Joint-limit repulsion is active when both limits are set.

property max_delta_tau

Maximum allowed torque step per cycle in [Nm].

property upper_joint_limits

Upper soft joint limits in [rad]. Joint-limit repulsion is active when both limits are set.