Global parameters for the robot. More...

#include <robot.hpp>

Public Attributes
RelativeDynamicsFactor	relative_dynamics_factor {1.0}
	Relative dynamics factor for the robot.

double	default_torque_threshold {20.0}
	Default torque threshold for collision behavior.

double	default_force_threshold {30.0}
	Default force threshold for collision behavior.

franka::ControllerMode	controller_mode {franka::ControllerMode::kJointImpedance}
	Default controller mode for the robot.

franka::RealtimeConfig	realtime_config {franka::RealtimeConfig::kEnforce}
	Default realtime configuration for the robot.

double	joint_acceleration_estimator_decay {0.9}
	Joint acceleration estimator decay.

Detailed Description

Global parameters for the robot.

Member Data Documentation

◆ controller_mode

franka::ControllerMode franky::Robot::Params::controller_mode {franka::ControllerMode::kJointImpedance}

Default controller mode for the robot.

See libfranka documentation for details.

◆ default_force_threshold

double franky::Robot::Params::default_force_threshold {30.0}

Default force threshold for collision behavior.

◆ default_torque_threshold

double franky::Robot::Params::default_torque_threshold {20.0}

Default torque threshold for collision behavior.

◆ joint_acceleration_estimator_decay

double franky::Robot::Params::joint_acceleration_estimator_decay {0.9}

Joint acceleration estimator decay.

This parameter is used to smooth the joint acceleration estimates. The acceleration estimates are computed as $\ddot{q}_{t + \Delta t} = \alpha \ddot{q}_{t} + ( 1 - \alpha)\left(\frac{\dot{q}_{t + \Delta t} - \dot{q}_{t}}{\Delta t}\right)$

◆ realtime_config

franka::RealtimeConfig franky::Robot::Params::realtime_config {franka::RealtimeConfig::kEnforce}

Default realtime configuration for the robot.

See libfranka documentation for details.

◆ relative_dynamics_factor

RelativeDynamicsFactor franky::Robot::Params::relative_dynamics_factor {1.0}

Relative dynamics factor for the robot.

The maximum velocity, acceleration and jerk of the robot are scaled by the factors specified here.

The documentation for this struct was generated from the following file:

/home/runner/work/franky/franky/include/franky/robot.hpp

Public Attributes