Ashkan Khakzar

So, it kinda got fixed by clearing the armstate_ in this line: [https://github.com/ahundt/grl/blob/master/include/grl/kuka/KukaDriver.hpp#L243](url) also, I pass the current position, to KukaJavaDriver at the same place. (Also I should mention switching...

Good! But is there a way to switch to MoveArmJointServo while holding(and possible exerting force on) the robot? I will post a video of that...