schema_version: 2
config_id: cartesian-impedance-sim-001
model_hash: replace-with-urdf-sha256
tool_id: example-tool-v1
payload_id: empty

frames:
  base: base_link
  controlled: tool0
  task_parameters: tool0
  reference: local_world_aligned
  spatial_order: [linear, angular]
  characteristic_length_m: 0.10
  pose_error: desired_minus_measured
  wrench_sign: environment_on_robot

interface:
  command: raw_joint_torque
  driver_compensation: none
  effort_limit_scope: physical_total_torque

control:
  period_s: 0.001
  formulation: inertia_shaped
  model_compensation: gravity
  stiffness: [300.0, 300.0, 200.0, 12.0, 12.0, 8.0]
  damping_ratio: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
  virtual_mass: [3.0, 3.0, 3.0, 0.15, 0.15, 0.10]
  integral_gain: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

filter:
  joint_velocity_cutoff_hz: 30.0
  external_wrench_cutoff_hz: 20.0

nullspace:
  enabled: false
  stiffness: 0.0
  damping_ratio: 1.0

contact:
  enabled: false
  normal_axis: positive_z
  target_force_magnitude_n: 0.0
  enter_force_magnitude_n: 3.0
  exit_force_magnitude_n: 1.5
  enter_hold_s: 0.03
  exit_hold_s: 0.05
  force_ramp_n_s: 20.0
  allowed_peak_force_n: 20.0
  emergency_force_n: 30.0

safety:
  translation_error_m: [0.02, 0.02, 0.02]
  rotation_error_rad: [0.10, 0.10, 0.10]
  wrench_abs_limit: [20.0, 20.0, 20.0, 3.0, 3.0, 3.0]
  torque_rate_nm_s: 100.0
  state_timeout_s: 0.005
  consecutive_deadline_misses: 3