Global parameters for the robot. More...

#include <robot.hpp>

Public Attributes
RelativeDynamicsFactor	relative_dynamics_factor {1.0}

double	default_torque_threshold {20.0}

double	default_force_threshold {30.0}

franka::ControllerMode	controller_mode {franka::ControllerMode::kJointImpedance}

franka::RealtimeConfig	realtime_config {franka::RealtimeConfig::kEnforce}

Detailed Description

Global parameters for the robot.

Member Data Documentation

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

The default controller mode for the robot, see libfranka documentation for details.

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

The default force threshold for collision behavior.

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

The default torque threshold for collision behavior.

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

The default realtime configuration for the robot, see libfranka documentation for details.

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

The 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: