Sorry,
I will start with what I am trying to achieve:
- Be able to change the stiffness and damping parameters when in JointImpedance control mode when using the FRI.
Currently from what I see there is no FRI API interface to be able to change these two parameters. As a result I thought I could do this by sending the desired stiffness and damping parameters via a tcp socket.
Currently I am running a java application which is very similar to the LBRTorqueSinOverlay. In this application I was hopping to have my JavaSocket server which would get the desired stiffness and damping values sent by my client cpp application running on my laptop.