Keyu Li

Still haven't figured it out. I changed the control mode by calling the service /iiwa/configuration/ConfigureControlMode in the python script before executing the action. The control mode is successfully changed, but...

I seem to understand a little bit about this problem. It should be caused by different command types. The actions are using the PTP commandtypes, while after configuring control mode,...

> HI @LeeKeyu , same problem. Solved? Not yet.

> are you still working on the problem? > > I'm having the same issue, when I switch from position control to joint impedance control the first time works, but...