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	kalman_q_process_var = 0.0001
	Kalman parameter: process noise variance of the position.

double	kalman_dq_process_var = 0.001
	Kalman parameter: process noise variance of the velocity.

double	kalman_ddq_process_var = 0.1
	Kalman parameter: process noise variance of the acceleration.

double	kalman_control_process_var = 1
	Kalman parameter: process noise variance of the control signal.

double	kalman_q_obs_var = 0.01
	Kalman parameter: observation noise variance of measured joint positions.

double	kalman_dq_obs_var = 0.1
	Kalman parameter: observation noise variance of measured joint velocities.

double	kalman_q_d_obs_var = 0.0001
	Kalman parameter: observation noise variance of desired joint positions.

double	kalman_dq_d_obs_var = 0.0001
	Kalman parameter: observation noise variance of desired joint velocities.

double	kalman_ddq_d_obs_var = 0.0001
	Kalman parameter: observation noise variance of desired joint accelerations.

double	kalman_control_adaptation_rate = 0.1
	Kalman parameter: rate of adaptation of the robot state to the desired robot state.

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.

◆ kalman_control_adaptation_rate

double franky::Robot::Params::kalman_control_adaptation_rate = 0.1

Kalman parameter: rate of adaptation of the robot state to the desired robot state.

◆ kalman_control_process_var

double franky::Robot::Params::kalman_control_process_var = 1

Kalman parameter: process noise variance of the control signal.

◆ kalman_ddq_d_obs_var

double franky::Robot::Params::kalman_ddq_d_obs_var = 0.0001

Kalman parameter: observation noise variance of desired joint accelerations.

◆ kalman_ddq_process_var

double franky::Robot::Params::kalman_ddq_process_var = 0.1

Kalman parameter: process noise variance of the acceleration.

◆ kalman_dq_d_obs_var

double franky::Robot::Params::kalman_dq_d_obs_var = 0.0001

Kalman parameter: observation noise variance of desired joint velocities.

◆ kalman_dq_obs_var

double franky::Robot::Params::kalman_dq_obs_var = 0.1

Kalman parameter: observation noise variance of measured joint velocities.

◆ kalman_dq_process_var

double franky::Robot::Params::kalman_dq_process_var = 0.001

Kalman parameter: process noise variance of the velocity.

◆ kalman_q_d_obs_var

double franky::Robot::Params::kalman_q_d_obs_var = 0.0001

Kalman parameter: observation noise variance of desired joint positions.

◆ kalman_q_obs_var

double franky::Robot::Params::kalman_q_obs_var = 0.01

Kalman parameter: observation noise variance of measured joint positions.

◆ kalman_q_process_var

double franky::Robot::Params::kalman_q_process_var = 0.0001

Kalman parameter: process noise variance of the position.

◆ realtime_config

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

Default realtime configuration for the robot.