how to use REALLY Pure Postion mode with FRI?

  • Hi,


    I am trying to use iiwa7 do position trajectory following task.


    I had just finished all setup as mentioned in https://github.com/epfl-lasa/iiwa_ros using FRI .


    the JAVA CODE in the robot side is



    Now, I can use moveit in Rivz to drag the robot and the real iiwa can follow the drag trajectory.



    The question is : the robot is not actually in Pure Postion Mode, even the stiffness is set to high value, and the robot was not accurate acchieve the goal which effected by the gravity.


    How can I just use pure postion mode to do position trajectory task?

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  • Hi longwoo,


    Maybe you can change the jointImpedanceControlMode to the PositionControlMode.


    Best


    JointImpedanceControlMode ctrMode = new JointImpedanceControlMode(stiffness, stiffness, stiffness, stiffness, stiffness, stiffness, stiffness);

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