franky.TorqueStopParams

class franky.TorqueStopParams

Bases: pybind11_object

Parameters for the torque-control stop motion (StopMotion<franka::Torques>).

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

property compensate_coriolis

Compensate Coriolis forces.

property damping

Pure joint damping [Nms/rad] used to bring the arm to rest.

property max_delta_tau

Per-tick torque-rate limit [Nm] for smoothness.

property max_duration

Maximum duration [s] before the motion finishes regardless of velocity.

property ramp_duration

Duration [s] over which the inherited command is ramped into the damping-only law. Set to 0 to switch immediately.

property velocity_epsilon

Finish once every joint speed is below this [rad/s] (after the ramp completes).