how to use REALLY Pure Postion mode with FRI?

        // configure and start FRI session
        FRIConfiguration friConfiguration = FRIConfiguration.createRemoteConfiguration(_lbr, _clientName);
        // for torque mode, there has to be a command value at least all 5ms
        friConfiguration.setSendPeriodMilliSec(5);
        friConfiguration.setReceiveMultiplier(1);

        getLogger().info("Creating FRI connection to " + friConfiguration.getHostName());
        getLogger().info("SendPeriod: " + friConfiguration.getSendPeriodMilliSec() + "ms |"
                + " ReceiveMultiplier: " + friConfiguration.getReceiveMultiplier());

        FRISession friSession = new FRISession(friConfiguration);

        // wait until FRI session is ready to switch to command mode
        try
        {
            friSession.await(10, TimeUnit.SECONDS);
        }
        catch (final TimeoutException e)
        {
            getLogger().error(e.getLocalizedMessage());
            friSession.close();
            return;
        }

        getLogger().info("FRI connection established.");

        ClientCommandMode mode = ClientCommandMode.POSITION;
        FRIJointOverlay jointOverlay = new FRIJointOverlay(friSession, mode);
        double stiffness = 500.;

        // start PositionHold with overlay
        JointImpedanceControlMode ctrMode = new JointImpedanceControlMode(stiffness, stiffness, stiffness, stiffness, stiffness, stiffness, stiffness);

        try {
            PositionHold posHold = new PositionHold(ctrMode, -1, TimeUnit.SECONDS);
            getLogger().info("Robot is ready for ROS control.");
            _lbr.move(posHold.addMotionOverlay(jointOverlay));
        }
        catch(final CommandInvalidException e) {
            getLogger().error("ROS has been disconnected.");
        }

        // done
        friSession.close();