Hello,
I am using DirectServo and the transformationProvider to command cartesian pose via FRI, which works decently well.
In Cartesian Impedance mode there is the option to add an additional wrench via FRIJointOverlay, which I wanted to try out as:
Code
FRIJointOverlay wrenchOverlay = new FRIJointOverlay(session, ClientCommandMode.WRENCH);
aDirectServoMotion.addMotionOverlay(wrenchOverlay);
_lbr.moveAsync(aDirectServoMotion);
However, the IIWAs give an error about an invalid motion type, which makes me think that you can not use MotionOverlay in combination with direct servo, since everything works if I remove the first two lines. Is this true or did I make an error?
If these two can not be combined, are there any other solutions to commanding a Cartesian Pose as well as a Wrench via FRI?
Many Thanks