diff --git a/CMakeLists.txt b/CMakeLists.txt
index a204721..277d16a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -49,25 +49,25 @@ find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Widgets)
 find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Widgets)
 
 
-add_library(MotionGenerator src/motion_generator.cpp)
+add_library(MotionGenerator src/generator/motion_generator.cpp)
 target_link_libraries(MotionGenerator Franka::Franka)
 
 
 add_library(ConstraintsManager constraints_manager/src/constraints_manager.cpp)
 
-add_library(QuadraticProgramMotionGenerator src/quadratic_program_motion_generator.cpp)
+add_library(QuadraticProgramMotionGenerator src/generator/quadratic_program_motion_generator.cpp)
 target_link_libraries(QuadraticProgramMotionGenerator
                        qpOASES
                        dqrobotics
                        ConstraintsManager)
 
-add_library(CustomMotionGeneration src/custom_motion_generation.cpp)
+add_library(CustomMotionGeneration src/generator/custom_motion_generation.cpp)
 target_link_libraries(CustomMotionGeneration
                         qpOASES
                         dqrobotics
                         ConstraintsManager)
 
-add_library(robot_interface_franka src/robot_interface_franka.cpp)
+add_library(robot_interface_franka src/joint/robot_interface_franka.cpp)
 target_link_libraries(robot_interface_franka Franka::Franka
                       dqrobotics
                       MotionGenerator
@@ -75,7 +75,7 @@ target_link_libraries(robot_interface_franka Franka::Franka
                       QuadraticProgramMotionGenerator
                       CustomMotionGeneration)
 
-add_library(robot_interface_hand src/robot_interface_hand.cpp)
+add_library(robot_interface_hand src/hand/robot_interface_hand.cpp)
 target_link_libraries(robot_interface_hand Franka::Franka
                       dqrobotics)
 
@@ -90,8 +90,11 @@ target_link_libraries(robot_interface_hand Franka::Franka
 
 include_directories(
     include
+    include/generator
     src/
     src/dynamic_interface
+    src/hand
+    src/joint
     ${catkin_INCLUDE_DIRS}
     constraints_manager/include
     )
@@ -101,19 +104,19 @@ add_library(sas_robot_dynamic_provider src/dynamic_interface/sas_robot_dynamic_p
 target_link_libraries(sas_robot_dynamic_provider dqrobotics)
 
 
-add_library(sas_robot_driver_franka src/sas_robot_driver_franka.cpp)
+add_library(sas_robot_driver_franka src/joint/sas_robot_driver_franka.cpp)
 target_link_libraries(sas_robot_driver_franka
                     sas_robot_dynamic_provider
                     dqrobotics
                     robot_interface_franka)
 
-add_library(sas_robot_driver_franka_hand src/sas_robot_driver_franka_hand.cpp)
+add_library(sas_robot_driver_franka_hand src/hand/sas_robot_driver_franka_hand.cpp)
 target_link_libraries(sas_robot_driver_franka_hand
         dqrobotics
         Franka::Franka)
 
 
-add_library(sas_robot_driver_coppelia src/sas_robot_driver_coppelia.cpp)
+add_library(sas_robot_driver_coppelia src/coppelia/sas_robot_driver_coppelia.cpp)
 target_link_libraries(sas_robot_driver_coppelia
                        dqrobotics
                        dqrobotics-interface-vrep)
@@ -147,7 +150,6 @@ add_executable(JuankaEmika
 
 target_link_libraries(JuankaEmika  PRIVATE Qt${QT_VERSION_MAJOR}::Widgets
     dqrobotics
-
     ${catkin_LIBRARIES}
     robot_interface_franka
     )
@@ -171,6 +173,10 @@ install(TARGETS sas_robot_driver_coppelia_node
 DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
+install(TARGETS sas_robot_driver_franka_hand_node
+DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
 ## Mark cpp header files for installation
 install(DIRECTORY include/${PROJECT_NAME}/
   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
diff --git a/cfg/sas_robot_driver_franka_1.yaml b/cfg/sas_robot_driver_franka_1.yaml
index 95e85b3..1626053 100644
--- a/cfg/sas_robot_driver_franka_1.yaml
+++ b/cfg/sas_robot_driver_franka_1.yaml
@@ -5,4 +5,6 @@
 "thread_sampling_time_nsec": 4000000
 "q_min": [-2.3093,-1.5133,-2.4937, -2.7478,-2.4800, 0.8521, -2.6895]
 "q_max": [ 2.3093, 1.5133, 2.4937, -0.4461, 2.4800, 4.2094,  2.6895]
-
+"force_upper_limits_scaling_factor": 4.0
+"upper_torque_threshold": [40.0, 40.0, 40.0, 40.0, 40.0, 40.0, 40.0]
+"upper_force_threshold": [40.0, 40.0, 40.0, 40.0, 40.0, 40.0]
diff --git a/cfg/sas_robot_driver_franka_2.yaml b/cfg/sas_robot_driver_franka_2.yaml
deleted file mode 100644
index 228729e..0000000
--- a/cfg/sas_robot_driver_franka_2.yaml
+++ /dev/null
@@ -1,8 +0,0 @@
-"robot_ip_address": "172.16.0.3"
-"robot_mode": "PositionControl"
-"robot_port": 5007
-"robot_speed": 20.0
-"thread_sampling_time_nsec": 4000000
-"q_min": [-2.3093,-1.5133,-2.4937, -2.7478,-2.4800, 0.8521, -2.6895]
-"q_max": [ 2.3093, 1.5133, 2.4937, -0.4461, 2.4800, 4.2094,  2.6895]
-
diff --git a/cfg/sas_robot_driver_franka_3.yaml b/cfg/sas_robot_driver_franka_3.yaml
deleted file mode 100644
index 4a95f7c..0000000
--- a/cfg/sas_robot_driver_franka_3.yaml
+++ /dev/null
@@ -1,8 +0,0 @@
-"robot_ip_address": "172.16.0.4"
-"robot_mode": "PositionControl"
-"robot_port": 5007
-"robot_speed": 20.0
-"thread_sampling_time_nsec": 4000000
-"q_min": [-2.3093,-1.5133,-2.4937, -2.7478,-2.4800, 0.8521, -2.6895]
-"q_max": [ 2.3093, 1.5133, 2.4937, -0.4461, 2.4800, 4.2094,  2.6895]
-
diff --git a/cfg/sas_robot_driver_franka_4.yaml b/cfg/sas_robot_driver_franka_4.yaml
deleted file mode 100644
index 8c81933..0000000
--- a/cfg/sas_robot_driver_franka_4.yaml
+++ /dev/null
@@ -1,8 +0,0 @@
-"robot_ip_address": "172.16.0.5"
-"robot_mode": "PositionControl"
-"robot_port": 5007
-"robot_speed": 20.0
-"thread_sampling_time_nsec": 4000000
-"q_min": [-2.3093,-1.5133,-2.4937, -2.7478,-2.4800, 0.8521, -2.6895]
-"q_max": [ 2.3093, 1.5133, 2.4937, -0.4461, 2.4800, 4.2094,  2.6895]
-
diff --git a/include/custom_motion_generation.h b/include/generator/custom_motion_generation.h
similarity index 100%
rename from include/custom_motion_generation.h
rename to include/generator/custom_motion_generation.h
diff --git a/include/motion_generator.h b/include/generator/motion_generator.h
similarity index 100%
rename from include/motion_generator.h
rename to include/generator/motion_generator.h
diff --git a/include/quadratic_program_motion_generator.h b/include/generator/quadratic_program_motion_generator.h
similarity index 100%
rename from include/quadratic_program_motion_generator.h
rename to include/generator/quadratic_program_motion_generator.h
diff --git a/include/sas_robot_driver_franka.h b/include/sas_robot_driver_franka.h
index 45f1420..ef43158 100644
--- a/include/sas_robot_driver_franka.h
+++ b/include/sas_robot_driver_franka.h
@@ -48,16 +48,18 @@
 using namespace DQ_robotics;
 using namespace Eigen;
 
+struct RobotInterfaceFranka::FrankaInterfaceConfiguration;  // Forward declaration
+
 namespace sas
 {
 
-
 struct RobotDriverFrankaConfiguration
 {
     std::string ip_address;
     std::string mode;
     int port;
     double speed;
+    RobotInterfaceFranka::FrankaInterfaceConfiguration interface_configuration;
 };
 
 
@@ -81,7 +83,7 @@ private:
     std::atomic_bool* break_loops_;
 
     // hotfix function to update cartesian contact and pose information
-    void _update_cartesian_contact_and_pose() const;
+    void _update_stiffness_contact_and_pose() const;
 
 
 public:
diff --git a/qt/configuration_window/mainwindow.cpp b/qt/configuration_window/mainwindow.cpp
index 6e1bd2d..dd5d238 100644
--- a/qt/configuration_window/mainwindow.cpp
+++ b/qt/configuration_window/mainwindow.cpp
@@ -216,9 +216,13 @@ void MainWindow::on_pushButton_connect_clicked()
     if (!robot_driver_franka_sptr_)
     {
         //qDebug()<<"Create Pointer ";
-        robot_driver_franka_sptr_ = std::make_shared<RobotInterfaceFranka>(robotIp_std,
-                                                                          MODE,
-                                                                          RobotInterfaceFranka::HAND::ON);
+        RobotInterfaceFranka::FrankaInterfaceConfiguration default_config;
+        robot_driver_franka_sptr_ = std::make_shared<RobotInterfaceFranka>(
+            default_config,
+            robotIp_std,
+            MODE,
+            RobotInterfaceFranka::HAND::ON
+            );
 
     }
 
diff --git a/src/sas_robot_driver_coppelia.cpp b/src/coppelia/sas_robot_driver_coppelia.cpp
similarity index 100%
rename from src/sas_robot_driver_coppelia.cpp
rename to src/coppelia/sas_robot_driver_coppelia.cpp
diff --git a/include/sas_robot_driver_coppelia.h b/src/coppelia/sas_robot_driver_coppelia.h
similarity index 100%
rename from include/sas_robot_driver_coppelia.h
rename to src/coppelia/sas_robot_driver_coppelia.h
diff --git a/src/dynamic_interface/sas_robot_dynamic_provider.cpp b/src/dynamic_interface/sas_robot_dynamic_provider.cpp
index 702c9b4..30c0bd9 100644
--- a/src/dynamic_interface/sas_robot_dynamic_provider.cpp
+++ b/src/dynamic_interface/sas_robot_dynamic_provider.cpp
@@ -41,14 +41,15 @@ RobotDynamicProvider::RobotDynamicProvider(ros::NodeHandle &publisher_nodehandle
     node_prefix_(node_prefix)
 {
     ROS_INFO_STREAM(ros::this_node::getName() + "::Initializing RobotDynamicProvider with prefix " + node_prefix);
-    publisher_cartesian_contact_ = publisher_nodehandle.advertise<geometry_msgs::WrenchStamped>(node_prefix + "/get/cartesian_contact", 1);
-    publisher_cartesian_pose_ = publisher_nodehandle.advertise<geometry_msgs::PoseStamped>(node_prefix + "/get/cartesian_pose", 1);
+    publisher_cartesian_stiffness_ = publisher_nodehandle.advertise<geometry_msgs::WrenchStamped>(node_prefix + "/get/cartesian_stiffness", 1);
+    publisher_stiffness_pose_ = publisher_nodehandle.advertise<geometry_msgs::PoseStamped>(node_prefix + "/get/stiffness_pose", 1);
 
 }
 
 
-void RobotDynamicProvider::publish_cartesian_contact(const Vector3d& force, const Vector3d& torque)
+void RobotDynamicProvider::publish_stiffness(const DQ& base_to_stiffness, const Vector3d& force, const Vector3d& torque) const
 {
+    publisher_stiffness_pose_.publish(dq_to_geometry_msgs_pose_stamped(base_to_stiffness));
     geometry_msgs::WrenchStamped msg;
     msg.header.stamp = ros::Time::now();
     msg.wrench.force.x = force(0);
@@ -57,9 +58,6 @@ void RobotDynamicProvider::publish_cartesian_contact(const Vector3d& force, cons
     msg.wrench.torque.x = torque(0);
     msg.wrench.torque.y = torque(1);
     msg.wrench.torque.z = torque(2);
-    publisher_cartesian_contact_.publish(msg);
-}
-void RobotDynamicProvider::publish_cartesian_pose(const DQ& pose)
-{
-    publisher_cartesian_pose_.publish(dq_to_geometry_msgs_pose_stamped(pose));
+    publisher_cartesian_stiffness_.publish(msg);
 }
+
diff --git a/src/dynamic_interface/sas_robot_dynamic_provider.h b/src/dynamic_interface/sas_robot_dynamic_provider.h
index 79ce033..81c030c 100644
--- a/src/dynamic_interface/sas_robot_dynamic_provider.h
+++ b/src/dynamic_interface/sas_robot_dynamic_provider.h
@@ -1,4 +1,33 @@
 #pragma once
+/*
+# Copyright (c) 2023 Juan Jose Quiroz Omana
+#
+#    This file is part of sas_robot_driver_franka.
+#
+#    sas_robot_driver_franka is free software: you can redistribute it and/or modify
+#    it under the terms of the GNU Lesser General Public License as published by
+#    the Free Software Foundation, either version 3 of the License, or
+#    (at your option) any later version.
+#
+#    sas_robot_driver_franka is distributed in the hope that it will be useful,
+#    but WITHOUT ANY WARRANTY; without even the implied warranty of
+#    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+#    GNU Lesser General Public License for more details.
+#
+#    You should have received a copy of the GNU Lesser General Public License
+#    along with sas_robot_driver.  If not, see <https://www.gnu.org/licenses/>.
+#
+# ################################################################
+#
+#   Author: Juan Jose Quiroz Omana, email: juanjqogm@gmail.com
+#
+# ################################################################
+#
+# Contributors:
+#      1. Quenitin Lin
+#
+# ################################################################
+*/
 #include <ros/ros.h>
 #include <ros/node_handle.h>
 #include <sas_common/sas_common.h>
@@ -15,15 +44,14 @@ class RobotDynamicProvider {
 private:
     std::string node_prefix_;
 
-    ros::Publisher publisher_cartesian_contact_;
-    ros::Publisher publisher_cartesian_pose_;
+    ros::Publisher publisher_cartesian_stiffness_;
+    ros::Publisher publisher_stiffness_pose_;
 
 public:
     RobotDynamicProvider(ros::NodeHandle& nodehandle, const std::string& node_prefix=ros::this_node::getName());
     RobotDynamicProvider(ros::NodeHandle& publisher_nodehandle, ros::NodeHandle& subscriber_nodehandle, const std::string& node_prefix=ros::this_node::getName());
 
-    void publish_cartesian_contact(const Vector3d& force, const Vector3d& torque);
-    void publish_cartesian_pose(const DQ& pose);
+    void publish_stiffness(const DQ& base_to_stiffness, const Vector3d& force, const Vector3d& torque) const;
 
 };
 
diff --git a/src/custom_motion_generation.cpp b/src/generator/custom_motion_generation.cpp
similarity index 99%
rename from src/custom_motion_generation.cpp
rename to src/generator/custom_motion_generation.cpp
index b6c84b8..a4ea61a 100644
--- a/src/custom_motion_generation.cpp
+++ b/src/generator/custom_motion_generation.cpp
@@ -28,9 +28,7 @@
 #
 # ################################################################
 */
-
-
-#include "custom_motion_generation.h"
+#include "generator/custom_motion_generation.h"
 
 /**
  * @brief CustomMotionGeneration::CustomMotionGeneration
diff --git a/src/motion_generator.cpp b/src/generator/motion_generator.cpp
similarity index 99%
rename from src/motion_generator.cpp
rename to src/generator/motion_generator.cpp
index f323020..8318f92 100644
--- a/src/motion_generator.cpp
+++ b/src/generator/motion_generator.cpp
@@ -1,6 +1,6 @@
 // Copyright (c) 2017 Franka Emika GmbH
 // Use of this source code is governed by the Apache-2.0 license, see LICENSE
-#include "motion_generator.h"
+#include "generator/motion_generator.h"
 #include <algorithm>
 #include <array>
 #include <cmath>
diff --git a/src/quadratic_program_motion_generator.cpp b/src/generator/quadratic_program_motion_generator.cpp
similarity index 98%
rename from src/quadratic_program_motion_generator.cpp
rename to src/generator/quadratic_program_motion_generator.cpp
index 9700246..448a8d8 100644
--- a/src/quadratic_program_motion_generator.cpp
+++ b/src/generator/quadratic_program_motion_generator.cpp
@@ -1,4 +1,4 @@
-#include "quadratic_program_motion_generator.h"
+#include "generator/quadratic_program_motion_generator.h"
 
 
 QuadraticProgramMotionGenerator::QuadraticProgramMotionGenerator(const double &speed_factor,
diff --git a/src/robot_interface_hand.cpp b/src/hand/robot_interface_hand.cpp
similarity index 100%
rename from src/robot_interface_hand.cpp
rename to src/hand/robot_interface_hand.cpp
diff --git a/src/sas_robot_driver_franka_hand.cpp b/src/hand/sas_robot_driver_franka_hand.cpp
similarity index 77%
rename from src/sas_robot_driver_franka_hand.cpp
rename to src/hand/sas_robot_driver_franka_hand.cpp
index 3cbefaf..5492425 100644
--- a/src/sas_robot_driver_franka_hand.cpp
+++ b/src/hand/sas_robot_driver_franka_hand.cpp
@@ -1,7 +1,32 @@
-//
-// Created by qlin on 7/17/24.
-//
-
+/*
+# Copyright (c) 2023 Juan Jose Quiroz Omana
+#
+#    This file is part of sas_robot_driver_franka.
+#
+#    sas_robot_driver_franka is free software: you can redistribute it and/or modify
+#    it under the terms of the GNU Lesser General Public License as published by
+#    the Free Software Foundation, either version 3 of the License, or
+#    (at your option) any later version.
+#
+#    sas_robot_driver_franka is distributed in the hope that it will be useful,
+#    but WITHOUT ANY WARRANTY; without even the implied warranty of
+#    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+#    GNU Lesser General Public License for more details.
+#
+#    You should have received a copy of the GNU Lesser General Public License
+#    along with sas_robot_driver.  If not, see <https://www.gnu.org/licenses/>.
+#
+# ################################################################
+#
+#   Author: Juan Jose Quiroz Omana, email: juanjqogm@gmail.com
+#
+# ################################################################
+#
+# Contributors:
+#      1. Quenitin Lin
+#
+# ################################################################
+*/
 #include "sas_robot_driver_franka_hand.h"
 
 namespace sas {
diff --git a/src/sas_robot_driver_franka_hand.h b/src/hand/sas_robot_driver_franka_hand.h
similarity index 63%
rename from src/sas_robot_driver_franka_hand.h
rename to src/hand/sas_robot_driver_franka_hand.h
index ed17cc9..6c8c9cd 100644
--- a/src/sas_robot_driver_franka_hand.h
+++ b/src/hand/sas_robot_driver_franka_hand.h
@@ -1,4 +1,33 @@
 #pragma once
+/*
+# Copyright (c) 2023 Juan Jose Quiroz Omana
+#
+#    This file is part of sas_robot_driver_franka.
+#
+#    sas_robot_driver_franka is free software: you can redistribute it and/or modify
+#    it under the terms of the GNU Lesser General Public License as published by
+#    the Free Software Foundation, either version 3 of the License, or
+#    (at your option) any later version.
+#
+#    sas_robot_driver_franka is distributed in the hope that it will be useful,
+#    but WITHOUT ANY WARRANTY; without even the implied warranty of
+#    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+#    GNU Lesser General Public License for more details.
+#
+#    You should have received a copy of the GNU Lesser General Public License
+#    along with sas_robot_driver.  If not, see <https://www.gnu.org/licenses/>.
+#
+# ################################################################
+#
+#   Author: Juan Jose Quiroz Omana, email: juanjqogm@gmail.com
+#
+# ################################################################
+#
+# Contributors:
+#      1. Quenitin Lin
+#
+# ################################################################
+*/
 #include <exception>
 #include <tuple>
 #include <atomic>
diff --git a/src/robot_interface_franka.cpp b/src/joint/robot_interface_franka.cpp
similarity index 92%
rename from src/robot_interface_franka.cpp
rename to src/joint/robot_interface_franka.cpp
index 10f630a..264b54c 100644
--- a/src/robot_interface_franka.cpp
+++ b/src/joint/robot_interface_franka.cpp
@@ -38,13 +38,17 @@
 
 /**
  * @brief robot_driver_franka::robot_driver_franka
+ * @param configuration The configuration of the robot for setting control beheavior
  * @param ROBOT_IP The IP address of the FCI
  * @param mode The operation mode {None, PositionControl}.
  * @param hand The hand option {ONFinished, OFF}.
  */
-RobotInterfaceFranka::RobotInterfaceFranka(const std::string &ROBOT_IP,
-                                         const MODE& mode,
-                                         const HAND& hand):ip_(ROBOT_IP),mode_(mode)
+RobotInterfaceFranka::RobotInterfaceFranka(
+    const FrankaInterfaceConfiguration &configuration,
+    const std::string &ROBOT_IP,
+    const MODE& mode,
+    const HAND& hand
+    ):ip_(ROBOT_IP),franka_configuration_(configuration),mode_(mode)
 {
     _set_driver_mode(mode);
     if (hand == RobotInterfaceFranka::HAND::ON)
@@ -308,6 +312,16 @@ void RobotInterfaceFranka::initialize()
 
     initialize_flag_ = true;
 
+    // initialize and set the robot to default behavior (collision behavior, impedance, etc)
+    setDefaultBehavior(*robot_sptr_);
+    robot_sptr_->setCollisionBehavior(
+        franka_configuration_.lower_torque_threshold,
+        franka_configuration_.upper_torque_threshold,
+        franka_configuration_.lower_force_threshold,
+        franka_configuration_.upper_force_threshold
+        );
+    robot_sptr_->setJointImpedance(franka_configuration_.joint_impedance);
+    robot_sptr_->setCartesianImpedance(franka_configuration_.cartesian_impedance);
 
     switch (mode_)
     {
@@ -351,12 +365,18 @@ void RobotInterfaceFranka::_update_robot_state(const franka::RobotState &robot_s
     current_joint_forces_array_ = robot_state.tau_J;
     current_joint_forces_ =  Eigen::Map<VectorXd>(current_joint_forces_array_.data(), 7);
 
-    current_cartesian_force_torque_array_ = robot_state.cartesian_contact;
-    current_cartesian_force_ = Eigen::Map<Vector3d>(current_cartesian_force_torque_array_.data(), 3);
-    current_cartesian_torque_ = Eigen::Map<Vector3d>(current_cartesian_force_torque_array_.data()+3, 3);
+    current_stiffness_force_torque_array_ = robot_state.O_F_ext_hat_K;
+    current_stiffness_force_[0] = current_stiffness_force_torque_array_[0];
+    current_stiffness_force_[1] = current_stiffness_force_torque_array_[1];
+    current_stiffness_force_[2] = current_stiffness_force_torque_array_[2];
+    current_stiffness_torque_[0] = current_stiffness_force_torque_array_[3];
+    current_stiffness_torque_[1] = current_stiffness_force_torque_array_[4];
+    current_stiffness_torque_[2] = current_stiffness_force_torque_array_[5];
 
-    current_cartesian_pose_array_ = robot_state.O_T_EE;
-    current_cartesian_pose_ = Eigen::Map<VectorXd>(current_cartesian_pose_array_.data(), 16);
+    current_effector_pose_array_ = robot_state.O_T_EE;
+    current_stiffness_pose_array_ = robot_state.EE_T_K;
+    current_effeector_pose_ = Eigen::Map<VectorXd>(current_effector_pose_array_.data(), 16);
+    current_stiffness_pose_ = Eigen::Map<VectorXd>(current_stiffness_pose_array_.data(), 16);
 
     robot_mode_ = robot_state.robot_mode;
     time_ = time;
@@ -681,29 +701,25 @@ VectorXd RobotInterfaceFranka::get_joint_forces()
 }
 
 
-std::tuple<Vector3d, Vector3d> RobotInterfaceFranka::get_cartesian_force_torque()
+std::tuple<Vector3d, Vector3d> RobotInterfaceFranka::get_stiffness_force_torque()
 {
     _check_if_robot_is_connected();
-    return std::make_tuple(current_cartesian_force_, current_cartesian_torque_);
+    return std::make_tuple(current_stiffness_force_, current_stiffness_torque_);
 
 }
 
 
-DQ RobotInterfaceFranka::get_cartesian_pose()
-{
+/**
+ * @brief robot_driver_franka::get_stiffness_pose
+ * @return
+ */
+DQ RobotInterfaceFranka::get_stiffness_pose() {
     _check_if_robot_is_connected();
-    // VectorXd current_cartesian_pose_;
-    const auto t = DQ(0, current_cartesian_pose_[3], current_cartesian_pose_[7], current_cartesian_pose_[11]);
-    Matrix3d rotationMatrix;
-    rotationMatrix << current_cartesian_pose_(0), current_cartesian_pose_(1), current_cartesian_pose_(2),
-                      current_cartesian_pose_(4), current_cartesian_pose_(5), current_cartesian_pose_(6),
-                      current_cartesian_pose_(8), current_cartesian_pose_(9), current_cartesian_pose_(10);
-    Quaterniond quaternion(rotationMatrix);
-    const auto r = DQ(quaternion.w(), quaternion.x(), quaternion.y(), quaternion.z());
-    return r + 0.5 * E_ * t * r;
+    const auto base_2_ee = homgenious_tf_to_DQ(current_effeector_pose_);
+    const auto ee_2_k = homgenious_tf_to_DQ(current_stiffness_pose_);
+    return base_2_ee * ee_2_k;
 }
 
-
 /**
  * @brief robot_driver_franka::get_time
  * @return
diff --git a/include/robot_interface_franka.h b/src/joint/robot_interface_franka.h
similarity index 74%
rename from include/robot_interface_franka.h
rename to src/joint/robot_interface_franka.h
index 2f5cbb5..f34ae77 100644
--- a/include/robot_interface_franka.h
+++ b/src/joint/robot_interface_franka.h
@@ -40,19 +40,46 @@
 #include <franka/robot.h>
 #include <franka/gripper.h>
 #include <franka/exception.h>
-#include "motion_generator.h"
+#include "generator/motion_generator.h"
 #include <thread>
-#include "quadratic_program_motion_generator.h"
+#include "generator/quadratic_program_motion_generator.h"
 #include <dqrobotics/robots/FrankaEmikaPandaRobot.h>
 #include <atomic>
-#include "custom_motion_generation.h"
+#include "generator/custom_motion_generation.h"
 
 using namespace DQ_robotics;
 using namespace Eigen;
 
+/**
+ * @brief get homgenious_tf_to_DQ
+ * @param pose_vector (column major)
+ * @return pose
+ */
+inline DQ homgenious_tf_to_DQ(const VectorXd& pose_vector) {
+    // VectorXd column major
+    const auto t = DQ(0,  pose_vector(12), pose_vector(13), pose_vector(14));
+    Eigen::Matrix<double, 3, 3, Eigen::ColMajor> rot_mat;
+    rot_mat << pose_vector(0), pose_vector(4), pose_vector(8),
+               pose_vector(1), pose_vector(5), pose_vector(9),
+               pose_vector(2), pose_vector(6), pose_vector(10);
+    Quaternion<double> quaternion(rot_mat);
+    const auto r = normalize(DQ(quaternion.w(), quaternion.x(), quaternion.y(), quaternion.z()));
+    return r + 0.5 * E_ * t * r;
+}
+
 class RobotInterfaceFranka
 {
-public: enum class MODE{
+public:
+    struct FrankaInterfaceConfiguration {
+        std::array<double, 7> lower_torque_threshold={10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0};
+        std::array<double, 7> upper_torque_threshold={10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0};
+        std::array<double, 6> lower_force_threshold={10.0, 10.0, 10.0, 10.0, 10.0, 10.0};
+        std::array<double, 6> upper_force_threshold={10.0, 10.0, 10.0, 10.0, 10.0, 10.0};
+        std::array<double, 7> joint_impedance={3000, 3000, 3000, 2500, 2500, 2000, 2000};  // K_theta (Nm/rad)
+        std::array<double, 6> cartesian_impedance={3000, 3000, 3000, 300, 300, 300}; // K_x (N/m)
+    };
+
+    enum class MODE{
         None=0,
         PositionControl,
         VelocityControl,
@@ -64,6 +91,7 @@ public: enum class MODE{
 private:
     using Vector7d = Eigen::Matrix<double, 7, 1, Eigen::ColMajor>;
     std::string ip_ = "172.16.0.2";
+    FrankaInterfaceConfiguration franka_configuration_;
     double speed_factor_joint_position_controller_ = 0.2;
     double speed_gripper_ = 0.02;
     VectorXd desired_joint_positions_;
@@ -78,12 +106,14 @@ private:
     VectorXd current_joint_forces_;
     std::array<double, 7> current_joint_forces_array_;
 
-    Vector3d current_cartesian_force_;
-    Vector3d current_cartesian_torque_;
-    std::array<double, 6> current_cartesian_force_torque_array_;
+    Vector3d current_stiffness_force_;
+    Vector3d current_stiffness_torque_;
+    std::array<double, 6> current_stiffness_force_torque_array_;
 
-    VectorXd current_cartesian_pose_;
-    std::array<double, 16> current_cartesian_pose_array_;
+    VectorXd current_stiffness_pose_;
+    VectorXd current_effeector_pose_;
+    std::array<double, 16> current_stiffness_pose_array_;
+    std::array<double, 16> current_effector_pose_array_;
 
     franka::RobotMode robot_mode_;
 
@@ -158,7 +188,11 @@ public:
     RobotInterfaceFranka() = delete;
     RobotInterfaceFranka(const RobotInterfaceFranka&) = delete;
     RobotInterfaceFranka& operator= (const RobotInterfaceFranka&) = delete;
-    RobotInterfaceFranka(const std::string &ROBOT_IP, const MODE& mode, const HAND& hand = ON);
+    RobotInterfaceFranka(
+        const FrankaInterfaceConfiguration &configuration,
+        const std::string &ROBOT_IP,
+        const MODE& mode,
+        const HAND& hand = ON);
 
 
 
@@ -194,8 +228,8 @@ public:
     VectorXd get_joint_velocities();
     VectorXd get_joint_forces();
 
-    std::tuple<Vector3d, Vector3d> get_cartesian_force_torque();
-    DQ get_cartesian_pose();
+    std::tuple<Vector3d, Vector3d> get_stiffness_force_torque();
+    DQ get_stiffness_pose();
 
     double get_time();
 
diff --git a/src/sas_robot_driver_franka.cpp b/src/joint/sas_robot_driver_franka.cpp
similarity index 90%
rename from src/sas_robot_driver_franka.cpp
rename to src/joint/sas_robot_driver_franka.cpp
index 8b8b7d8..6a4a0e7 100644
--- a/src/sas_robot_driver_franka.cpp
+++ b/src/joint/sas_robot_driver_franka.cpp
@@ -31,7 +31,7 @@
 */
 
 
-#include "sas_robot_driver_franka.h"
+#include "../../include/sas_robot_driver_franka.h"
 #include "sas_clock/sas_clock.h"
 #include <dqrobotics/utils/DQ_Math.h>
 #include <ros/this_node.h>
@@ -74,21 +74,23 @@ namespace sas
         }
 
 
-        robot_driver_interface_sptr_ = std::make_shared<RobotInterfaceFranka>(configuration.ip_address,
-                                                                        mode, //None, PositionControl, VelocityControl
-                                                                        RobotInterfaceFranka::HAND::OFF);
+        robot_driver_interface_sptr_ = std::make_shared<RobotInterfaceFranka>(
+            configuration.interface_configuration,
+            configuration.ip_address,
+            mode, //None, PositionControl, VelocityControl
+            RobotInterfaceFranka::HAND::OFF
+        );
     }
 
     RobotDriverFranka::~RobotDriverFranka()=default;
 
 
-    void RobotDriverFranka::_update_cartesian_contact_and_pose() const
+    void RobotDriverFranka::_update_stiffness_contact_and_pose() const
     {
         Vector3d force, torque;
-        std::tie(force, torque) = robot_driver_interface_sptr_->get_cartesian_force_torque();
-        const auto pose = robot_driver_interface_sptr_->get_cartesian_pose();
-        robot_dynamic_provider_->publish_cartesian_contact(force, torque);
-        robot_dynamic_provider_->publish_cartesian_pose(pose);
+        std::tie(force, torque) = robot_driver_interface_sptr_->get_stiffness_force_torque();
+        const auto pose = robot_driver_interface_sptr_->get_stiffness_pose();
+        robot_dynamic_provider_->publish_stiffness(pose, force, torque);
     }
 
 
@@ -144,7 +146,7 @@ namespace sas
             ROS_ERROR_STREAM("["+ros::this_node::getName()+"]::driver interface error on:"+robot_driver_interface_sptr_->get_status_message());
             break_loops_->store(true);
         }
-        _update_cartesian_contact_and_pose();
+        _update_stiffness_contact_and_pose();
         return robot_driver_interface_sptr_->get_joint_positions();
     }
 
diff --git a/src/sas_robot_driver_coppelia_node.cpp b/src/sas_robot_driver_coppelia_node.cpp
index de0fe50..04c4654 100644
--- a/src/sas_robot_driver_coppelia_node.cpp
+++ b/src/sas_robot_driver_coppelia_node.cpp
@@ -39,7 +39,7 @@
 #include <sas_common/sas_common.h>
 #include <sas_conversions/eigen3_std_conversions.h>
 #include <sas_robot_driver/sas_robot_driver_ros.h>
-#include "sas_robot_driver_coppelia.h"
+#include "coppelia/sas_robot_driver_coppelia.h"
 
 /*********************************************
  * SIGNAL HANDLER
diff --git a/src/sas_robot_driver_franka_node.cpp b/src/sas_robot_driver_franka_node.cpp
index bce0b2f..0207796 100644
--- a/src/sas_robot_driver_franka_node.cpp
+++ b/src/sas_robot_driver_franka_node.cpp
@@ -53,6 +53,28 @@ void sig_int_handler(int)
     kill_this_process = true;
 }
 
+template<typename T, std::size_t N>
+std::array<T, N> apply_scale_to_std_array(const std::array<T, N>& array, const T& scale)
+{
+    std::array<T, N> scaled_array;
+    for(std::size_t i = 0; i < N; i++)
+    {
+        scaled_array[i] = array[i] * scale;
+    }
+    return scaled_array;
+}
+template<typename T, std::size_t N>
+std::array<T, N> std_vec_to_std_array(const std::vector<T>& vector)
+{
+    if(N != vector.size()){throw std::runtime_error("Size mismatch between vector and array.");}
+    std::array<T, N> array;
+    for(std::size_t i = 0; i < N; i++)
+    {
+        array[i] = vector[i];
+    }
+    return array;
+}
+
 
 int main(int argc, char **argv)
 {
@@ -70,9 +92,38 @@ int main(int argc, char **argv)
 
     ros::NodeHandle nh;
     sas::RobotDriverFrankaConfiguration robot_driver_franka_configuration;
+    RobotInterfaceFranka::FrankaInterfaceConfiguration franka_interface_configuration;
 
     sas::get_ros_param(nh,"/robot_ip_address",robot_driver_franka_configuration.ip_address);
     sas::get_ros_param(nh,"/robot_mode",      robot_driver_franka_configuration.mode);
+    double upper_scale_factor = 1.0;
+    std::vector<std::string> all_params;
+    if(nh.hasParam(ros::this_node::getName()+"/force_upper_limits_scaling_factor"))
+    {
+        sas::get_ros_param(nh,"/force_upper_limits_scaling_factor",upper_scale_factor);
+        ROS_WARN_STREAM(ros::this_node::getName()+"::Set force upper limits scaling factor: " << upper_scale_factor);
+    }
+    if(nh.hasParam(ros::this_node::getName()+"/upper_torque_threshold")) {
+        ROS_INFO_STREAM(ros::this_node::getName()+"::Upper torque threshold override and set.");
+        std::vector<double> upper_torque_threshold_std_vec;
+        sas::get_ros_param(nh,"/upper_torque_threshold",upper_torque_threshold_std_vec);
+        franka_interface_configuration.upper_torque_threshold = std_vec_to_std_array<double,7>(upper_torque_threshold_std_vec);
+    }else {
+        ROS_INFO_STREAM(ros::this_node::getName()+"::Upper torque threshold not set. Using default with value scalling.");
+        franka_interface_configuration.upper_torque_threshold = apply_scale_to_std_array(franka_interface_configuration.upper_torque_threshold, upper_scale_factor);
+    }
+    if(nh.hasParam(ros::this_node::getName()+"/upper_force_threshold")) {
+        ROS_INFO_STREAM(ros::this_node::getName()+"::Upper force threshold override and set.");
+        std::vector<double> upper_torque_threshold_std_vec;
+        sas::get_ros_param(nh,"/upper_force_threshold",upper_torque_threshold_std_vec);
+        franka_interface_configuration.upper_force_threshold = std_vec_to_std_array<double,6>(upper_torque_threshold_std_vec);
+    }else {
+        ROS_INFO_STREAM(ros::this_node::getName()+"::Upper force threshold not set. Using default with value scalling.");
+        franka_interface_configuration.upper_force_threshold = apply_scale_to_std_array(franka_interface_configuration.upper_force_threshold, upper_scale_factor);
+    }
+
+
+    robot_driver_franka_configuration.interface_configuration = franka_interface_configuration;
 
     sas::RobotDriverROSConfiguration robot_driver_ros_configuration;
 
@@ -80,9 +131,11 @@ int main(int argc, char **argv)
     sas::get_ros_param(nh,"/q_min",robot_driver_ros_configuration.q_min);
     sas::get_ros_param(nh,"/q_max",robot_driver_ros_configuration.q_max);
 
+    // initialize the robot dynamic provider
     robot_driver_ros_configuration.robot_driver_provider_prefix = ros::this_node::getName();
     sas::RobotDynamicProvider robot_dynamic_provider(nh, robot_driver_ros_configuration.robot_driver_provider_prefix);
-    
+
+
     try
         {
             ROS_INFO_STREAM(ros::this_node::getName()+"::Instantiating Franka robot.");