I have the following code:
JointImpedanceControlMode ctrlMode = new JointImpedanceControlMode(200, 200, 200, 200, 200, 200, 200);
ctrlMode.setDampingForAllJoints(0.7);
PositionHold posHold = new PositionHold(ctrlMode, -1, null);
while(running){
lbr.moveAsync(posHold.addMotionOverlay(jointOverlay));
}
I would like to the change the stiffness parameter of the ctrlMode. I have tried to call ctrlMode.setStiffnessForAllJoints() after the lbr.moveAsync with no effect.
I have the feeling that once lbr.moveAsync has been called it is no longer possible to change its parameters. I guess I would have to interrupt the motion somehow and start it again with new stiffness values.
Would anyone know how to interrupter the motion problematically without having to press stop on the smart pad ? Any help is much appreciated.