I know how to use jog arm package (Realtime Arm Servoing) well.

And I've got a force/torch sensor. May I please ask how I can achieve admittance control of UR5 robot with jog_arm package?

I know I can use the force/torch signals to direct control the the linear velocity and angular velocity of the UR5 robot. But how about the coefficient between force and velocity? Do I need to programe my own admittance controller in c++ or python? Is there ready to use ROS package to do it? Thanks a lot. Cheers.