impedance_control_additional_params.yaml

external_tool_compensation: [0, 0, 0.0, 0, 0.0, 0.0] # no tool on MIT 32 table
# external_tool_compensation: [0, 0, -3, 0, 0, 0] #Lishuai gripper prototypes
# external_tool_compensation: [0.46, -0.17, -1.64, 0, 0, 0] #

# Franka stand 220112 DSLTL
# external_tool_compensation: [0.66381655, 0.0753069032, -1.72973592, 0, 0, 0]
# F_ext^{with tool}
# force = [-0.24196727403693258, 0.045701724787694686, -3.555890477166464]
# torque = [-0.14540933419992513, -0.5687791825758969, 0.028329633410985003]
# F_ext^{no tool}
# force = [-0.905783824376473, -0.02960517842260313, -1.8261545619854467]
# torque = [-0.11730501208549998, -0.38840423502900806, -0.005434298561481796]


# If leave commented, then will use q_initial as q_d_nullspace_
# q_nullspace: [-0.00018091740727571674, -0.7847940677927195, -0.00024404294520081373, -2.3564243981994837, 0.0006413287301674081, 1.5711293005943296, 0.7850547459596864]
# q_nullspace: [-0.542943401353401, 0.28187752648403763, -0.36353780205626235, -1.6254522685168082, 0.12447580540091537, 1.9568485025564828, -0.2251955777760423]

# cartesian_stiffness_target_ used in cartesian_pose_impedance_controller
# cartesian_stiffness_target: [600, 600, 600, 50, 50, 50] 
# RSS: teach, can only move along y,z or rotate around y:
# cartesian_stiffness_target: [1000, 0, 0, 50, 0, 50]
# RSS: replay:
# cartesian_stiffness_target: [600, 600, 500, 50, 50, 50]
cartesian_stiffness_target: [300, 300, 300, 50, 50, 50]
# cartesian_stiffness_target: [1000, 200, 200, 50, 50, 50]

nullspace_stiffness: 0.01