So I want the iiwa to move 2cm in the X direction of the current tool frame position, and stop if it detects that the TCP has come in contact with something.
This is what i'm using, but it seems like the movement of the robot is triggering the force condition and preventing the move to be executed.
Code
ForceCondition fc = ForceCondition.createNormalForceCondition(
tool.getFrame("/Marker"),
CoordinateAxis.X,
8.0);
tool.move(linRel(20,0,0).setJointVelocityRel(0.2).breakWhen(fc));
Am i doing something wrong?