Category: HAL
As far as joint/axis being uncoupled that is possible with the newer version of LNC you may only need joint mode. However, for position mode still active I don't see it anywhere in the hal files you have posted.
There is this line in your configuration, which I don't know what it does
net motion-in-position motion.in-position => vc-p1as.is-moving.
This line uses motion.in=position from the motion component not halui. so you have a mix of halui component and motion component for jogging I wonder why they choose this complicated route. I am going to the gym now I will have look at your hal files later and report back.
