How can I use impedance_control to make the end effector of Sawyer follow a surface?

[duyayun]

Hello,
Sorry to bother but I am recently using Sawyer to do some impedance control. I saw your code and I think you did a great job developing the code. However, inside the impedanceControl.py, you didn't call the function you created. I added some parts of my own code but it is not working for now. I am wondering by using your impedanceControl.py, you can make Sawyer's arm follow a prescribed trajectory, right? That means somehow we can make the interaction mode compatible with the motion mode, i.e., joint positions, velocities and accelerations. Is my understanding right? Thanks.

Best,
Daisy