[feat] Admittance Controller & Variable stiffness support#75
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danielsanjosepro merged 5 commits intolearnsyslab:mainfrom Apr 9, 2026
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Add support for the cartesian_admittance_controller ros2_control plugin: - Add cartesian_admittance_controller_name and target_admittance_stiffness_topic fields to RobotConfig - Add admittance_controller_parameters_client and admittance stiffness publisher to Robot class - Add set_admittance_stiffness() method for runtime variable stiffness control - Add default_admittance.yaml config with impedance outer loop, virtual MSD admittance params, and F/T sensor settings - Add example 22_admittance_variable_stiffness.py demonstrating runtime stiffness changes from stiff to compliant
Match impedance outer loop params to the actual working config: k_pos=900, k_rot=45, explicit damping, error clipping, nullspace stiffness, and use_local_jacobian. Remove F/T sensor filter/offset config.
…admittance ctrl example
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@danielsanjosepro, since learnsyslab/crisp_controllers#47 was merged, I believe we may proceed with this one |
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Sure, I added one comment what do you think about it? :) |
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I am sorry, but I am afraid I could not see any comments |
| self._target_joint_publisher = self.node.create_publisher( | ||
| JointState, self.config.target_joint_topic, qos_profile_system_default | ||
| ) | ||
| self._target_admittance_stiffness_publisher = self.node.create_publisher( |
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Maybe we could make this one optional with a param in the config file to avoid using it if no admittance controller is being used
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I am sorry @domrachev03 the comment was still in a pending review ... it should be visible now |
…led FR3 robot config
Contributor
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No problem! I've fixed that, and also added one config with admittance enabled, as an example: fr3_admittance.yaml. Let me know what do you think about it |
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Looking good! This is ready to merge :) |
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This PR accompanies learnsyslab/crisp_controllers#47. Please see it for a detailed description of the problem and newly introduced functionality.
It:
Thanks to @lvjonok for participating in the discussion and preliminary code review