I am currently running the FRI in TORQUE mode and I would like to change it to another mode, WRENCH for instance
during execution.
I am thinking of doing something like this:
Code
FRIJointOverlay jointOverlay = new FRIJointOverlay(friSession, ClientCommandMode.TORQUE)
...
PositionHold posHold = new PositionHold(ctrlMode, -1, null)
lbr.moveAsync(posHold.addMotionOverlay(jointOverlay)
while(running)
{
if (changeFromTorqueToWrench)
{
// stop moveAsync
posHold.cancel()
jointOverlay = new FRIJointOverlay(friSession, ClientCommandMode.WRENCH)
PositionHold posHold = new PositionHold(ctrlMode, -1, null)
lbr.moveAsync(posHold.addMotionOverlay(jointOverlay)
}
}
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Basically doing something similar to https://www.robot-forum.com/robotforum/kuk…ncecontrolmode/
but instead of changing the impedance parameters, I would change the CllientCommandMode.
If anyone knows better I would appreciate any suggestions.