Public Attributes
double	max_delta_tau {1.0}

std::optional< Vector7d >	lower_joint_limits {}

std::optional< Vector7d >	upper_joint_limits {}

double	joint_limit_activation_distance {0.1}

double	joint_limit_stiffness {4.0}

double	joint_limit_damping {1.0}

double	joint_limit_max_torque {5.0}

Member Data Documentation

◆ joint_limit_activation_distance

double franky::TorqueSafetyParams::joint_limit_activation_distance {0.1}

Activation distance from a limit in [rad].

double franky::TorqueSafetyParams::joint_limit_damping {1.0}

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

double franky::TorqueSafetyParams::joint_limit_max_torque {5.0}

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

double franky::TorqueSafetyParams::joint_limit_stiffness {4.0}

Base repulsion gain in [Nm].

std::optional<Vector7d> franky::TorqueSafetyParams::lower_joint_limits {}

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

double franky::TorqueSafetyParams::max_delta_tau {1.0}

Maximum allowed torque step per cycle in [Nm].

std::optional<Vector7d> franky::TorqueSafetyParams::upper_joint_limits {}

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

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