I am trying to do torque control via the FRI. My idea is that in the java RoboticsAPIApplication I set the ctrl mode to JointImpanceControl with zero stiffness and use positionHold with torqueOverlay. I would like however to be able to change the stiffness back to afterwards, but I don't see any API functionality for this.
Has anyone done something similar that what I describe ?
Any help is welcome.