parameters.yaml

admittance_controller:
  joints: {
    type: string_array,
    description: "specifies which joints will be used by the controller",
    read_only: true
  }
  command_interfaces:
    {
      type: string_array,
      description: "specifies which command interfaces to claim",
      read_only: true
    }

  state_interfaces:
    {
      type: string_array,
      description: "specifies which state interfaces to claim",
      read_only: true
    }

  chainable_command_interfaces:
    {
      type: string_array,
      description: "specifies which chainable interfaces to claim",
      read_only: true
    }

  kinematics:
    plugin_name: {
      type: string,
      description: "specifies which kinematics plugin to load"
    }
    plugin_package: {
      type: string,
      description: "specifies the package to load the kinematics plugin from"
    }
    base: {
      type: string,
      description: "specifies the base link of the robot description used by the kinematics plugin"
    }
    tip: {
      type: string,
      description: "specifies the end effector link of the robot description used by the kinematics plugin"
    }
    alpha: {
      type: double,
      default_value: 0.0005,
      description: "specifies the damping coefficient for the Jacobian pseudo inverse"
    }
    group_name: {
      type: string,
      description: "specifies the group name for planning with Moveit"
    }

  ft_sensor:
    name: {
      type: string,
      description: "name of the force torque sensor in the robot description"
    }
    frame:
      id: {
        type: string,
        description: "frame of the force torque sensor"
      }
      external: {
        type: bool,
        default_value: false,
        description: "specifies if the force torque sensor is contained in the kinematics chain from the base to the tip"
      }
    filter_coefficient: {
      type: double,
      default_value: 0.005,
      description: "specifies the coefficient for the sensor's exponential filter"
    }

  control:
    frame:
      id: {
        type: string,
        description: "control frame used for admittance control"
      }
      external: {
        type: bool,
        default_value: false,
        description: "specifies if the control frame is contained in the kinematics chain from the base to the tip"
      }

  fixed_world_frame: # Gravity points down (neg. Z) in this frame (Usually: world or base_link)
    frame:
      id: {
        type: string,
        description: "world frame, gravity points down (neg. Z) in this frame"
      }
      external: {
        type: bool,
        default_value: false,
        description: "specifies if the world frame is contained in the kinematics chain from the base to the tip"
      }

  gravity_compensation:
    frame:
      id: {
        type: string,
        description: "frame which center of gravity (CoG) is defined in"
      }
      external: {
        type: bool,
        default_value: false,
        description: "specifies if the center of gravity frame is contained in the kinematics chain from the base to the tip"
      }
    CoG: # specifies the center of gravity of the end effector
      pos: {
        type: double_array,
        fixed_size: 3,
        description: "position of the center of gravity (CoG) in its frame"
      }
      force: {
        type: double,
        default_value: .NAN,
        description: "weight of the end effector, e.g mass * 9.81"
      }

  admittance:
    selected_axes:
      {
        type: bool_array,
        fixed_size: 6,
        description: "specifies if the axes x, y, z, rx, ry, and rz are enabled"
      }

    # Having ".0" at the end is MUST, otherwise there is a loading error
    # F = M*a + D*v + S*(x - x_d)
    mass: {
      type: double_array,
      fixed_size: 6,
      description: "specifies mass values for x, y, z, rx, ry, and rz used in the admittance calculation",
      bounds: [ 0.0001, 1000000.0]
    }

    damping_ratio: {
      type: double_array,
      fixed_size: 6,
      description: "specifies damping ratio values for x, y, z, rx, ry, and rz used in the admittance calculation.
      The values are calculated as damping can be used instead: zeta = D / (2 * sqrt( M * S ))",
      bounds: [ 0.1, 10.0 ],
      validation:
        [validate_double_array_custom_func, 20.3, 5.0]
    }

    stiffness: {
      type: double_array,
      description: "specifies stiffness values for x, y, z, rx, ry, and rz used in the admittance calculation",
      bounds: [ 0.0001, 100000.0 ]
    }

  # general settings
  enable_parameter_update_without_reactivation: {
    type: bool,
    default_value: true,
    description: "if enabled, read_only parameters will be dynamically updated in the control loop"
  }
  use_feedforward_commanded_input: {
    type: bool,
    default_value: true,
    description: "if enabled, the velocity commanded to the admittance controller is added to its calculated admittance velocity"
  }