Remove / reduce command filtering from admittance controller

[mhubii]

Instead (as suggested by @Tianhuanyu):

• Remove velocity command filter (admittance controller already acts as a low-pass filter due to integration):
  

  lbr_fri_ros2_stack/lbr_ros2_control/src/controllers/admittance_controller.cpp

  Line 372 in 6ad6d11

  dq_filter_ptr_ = std::make_unique<lbr_fri_ros2::ExponentialFilterArray<lbr_fri_ros2::N_JNTS>>(

• Filter wrenches instead
• Increase masses and at the same time increase Cartesian gains to compensate
• Potentially (currently out of scope) add a custom inverse dynamics model with adjustable friction terms (static/dynamic)

For reference @cbergeles.

[cbergeles]

Worth discussing the last point with Anestis! He is good at these models!

…

-- Christos Bergeles

-------- Original Message --------

On Thursday, 12/04/25 at 15:49 mhubii ***@***.***> wrote: mhubii created an issue [(lbr-stack/lbr_fri_ros2_stack#327)](#327) Instead (as suggested by ***@***.***(https://github.com/Tianhuanyu)): - Filter forces better - Increase masses (admittance controller already acts as a low-pass filter due to integration) and at the same time increase Cartesian gains to compensate - Potentially (currently out of scope) add a custom inverse dynamics model with adjustable friction terms (static/dynamic) For reference ***@***.***(https://github.com/cbergeles). — Reply to this email directly, [view it on GitHub](#327), or [unsubscribe](https://github.com/notifications/unsubscribe-auth/AAO7QDGVKRJLM6BOYG4JOVD4ABJZZAVCNFSM6AAAAACOBSFFNKVHI2DSMVQWIX3LMV43ASLTON2WKOZTGY4TKMJTGM2DCOA). You are receiving this because you were mentioned.Message ID: ***@***.***>