Hi there,
It's been quite the hiatus since my last post here!
I am attempting to get a package working with my iiwa R800 7kg that was written in 2012, originally for the LBR 4 iiwa prototype. In the example program, there appears to be only one error in which the setDestination(jp) command is incorrectly taking a MatrixTransformation as an argument [in this case the code is written as setDestination(MatrixTransformation), which is throwing an error because there is no method to handle a MatrixTransformation in the arguments]. Is there a simple conversion between JointPosition and MatrixTransformation in Java, or has someone written a method to do so? Otherwise, I will start digging and post my results here.
Thanks!
-Alex