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Available controllers

Default controllers

In CRISP_PY you can find some of the default configurations that we used with the FR3 of Franka Robotics. These configurations are:

  • default_cartesian_impedance.yaml: A simple config for a Cartesian Impedance (CI) Controller. This is our go-to controller, since it offers nice contact behavior and is the perfect balance between compliance and precision.
  • default_operational_space_controller.yaml: A simple config for Operational Space Controller (OSC). Is a slightly stiffer controller. The contact behavior might not be as nice as for CI.
  • clipped_cartesian_impedance.yaml: A simple config of a highly clipped error CI (CI-clipped). This offers a highly stiff controller but at the same time safe since the error is highly clipped. Useful for precise manipulation.

Experiments using these sets of parameters can be found in our paper.