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Support admittance control - #598

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JohnTGZ wants to merge 17 commits into
phase_2from
jt/add-admittance-mode
Open

Support admittance control#598
JohnTGZ wants to merge 17 commits into
phase_2from
jt/add-admittance-mode

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@JohnTGZ

@JohnTGZ JohnTGZ commented Jul 21, 2026 •
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Overview

This PR updates the robot_control_bridge to support Cartesian admittance control as the default Cartesian controller. It makes the following changes:

  • Fix stiffness, damping and mass parameters to a default set of parameters that generalize well to all tasks (Freespace and contact). These cannot be changed at runtime via MotionUpdate or JointMotionUpdate messages
  • Update limits (kinematic and joint) to match the actual robot setup in phase 2
  • Add support for F/T sensor part in robot controller configs to enable admittance control
  • Expose critical_mass as a config parameter
  • Change default interpolation mode from LINEAR_INTERPOLATION to REFLEXXES.

TODO

  • Fix stiffness, damping and mass parameters to a default set of parameters that generalize well to all tasks (Freespace and contact)
  • Set default value for USE_FIXED_CONTROL_PARAMETERS to true
  • Update changelog flowstate/aic_flowstate_ros_bridge/CHANGELOG.rst
  • Update/remove test scripts

@JohnTGZ
JohnTGZ changed the base branch from phase_1 to phase_2 July 24, 2026 07:06
@JohnTGZ
JohnTGZ force-pushed the jt/add-admittance-mode branch from 4d250e5 to 1c10d91 Compare July 28, 2026 09:40
@JohnTGZ
JohnTGZ marked this pull request as ready for review July 30, 2026 15:43
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@JohnTGZ