Struct Leash 

pub struct Leash {
    pub translation: f64,
    pub rotation: f64,
    pub joint: f64,
}

How far the desired state may run ahead of the measured one. There is no echo of a torque command to re-anchor the generator on, so every cycle it is anchored on the measured state pulled toward the previous desired by at most this: while the arm follows, that is exactly the previous desired and nothing changes; held back (a hand, an obstacle, an unreachable target) the desired stays within the leash, the force on the arm is bounded by the stiffness times the leash, and on release the generator resumes from where the arm is under its budget. The leash bounds the force, not the release: the arm closes the gap it was held back by under the spring alone, which can outrun the budget. Once a stop holds, the leash pulls toward the held state instead, so an arm moved during the hold meets the same bound. The observer reports what the leash took off as leash_alteration.

Fields

translation: f64

Cartesian interface, translation, m. Default 0.025. The leash bounds the spring, so the force on whoever holds the arm plateaus: roughly 40-50 N at the default gains in an FER’s O_F_ext_hat_K estimate (750 N/m × 0.025 m = 18.75 N is the translational spring alone with project_joint_gains, not what the robot’s estimate shows). Gentle pushes read well under 30 N; a hard, fast push briefly exceeds 60 N. Choose a collision force of 40 N for unattended runs and 60 N or more where people push.

rotation: f64

Cartesian interface, rotation, rad. Default 0.15.

joint: f64

Joint interface, per joint, rad. Default 0.1. On the joint interface the torque clamp, not the leash, bounds the torque: at the leash the JOINT preset pulls 60 Nm on joints 1 to 4 (under their 86 Nm clamp) and 25 / 15 / 5 Nm on the wrist, where joints 5 and 6 meet the 11.5 Nm clamp first; the examples’ 20 Nm joint collision threshold is reached at 0.033 rad on joints 1 to 4.

Trait Implementations

impl Clone for Leash

fn clone(&self) -> Leash

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Copy for Leash

impl Debug for Leash

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for Leash

fn default() -> Self

Returns the “default value” for a type.

impl PartialEq for Leash

fn eq(&self, other: &Leash) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl StructuralPartialEq for Leash