Moving the robot while in ImpedanceMotion mode

[MiguelASTavares]

Hi, I would like to know if it is possible to send a JointMotion command while the robot is in ImpedanceMotion mode. I see that you have in the example (impedance.py), the robot moving to a new target while maintaining the ImpedandeMotion, I want to do something similar but using the JointMotion command.

I try using the combination of:

q = [-1.53,0.508, -0.051, -1.796, -0.094, 3.386, -0.646]
x = Affine(Kinematics.forward(q))
impedance_motion.target = x

but when a new movement is initiated it doesn't move all the joints to the desired value, it only moves the end effector to the final position. Also, I can't seem to be able to control the velocity between movements (Always move at full speed), even using the robot.set_dynamic_rel(0.2) or data = MotionData(0.1) follow by robot.move_async(impedance, data)

Thanks in advance