combine fri with smartservo

[NKU-ZiXuan]

As far as I know, Fri library has the function of torque control，and the smartservo library has the function of cartesian pose and cartesian velocity. Both libraries are connected to the manipulator via IP. Is it possible to unify the two, establish a connection with the manipulator through a network port, and use moment control (FRI) and Cartesian control (smartservo) at the same time? If so, how to change the Java code？