Great to hear that you could configure the custom arm. Since you changed the title of the issue to "1", I assume your question has been answered. Cartesian impedance control is a compliant control method, so the arm would always be somewhat soft.
If you have specific questions, feel free to reopen it and state them or create a new issue.
Great to hear that you could configure the custom arm. Since you changed the title of the issue to "1", I assume your question has been answered. Cartesian impedance control is a compliant control method, so the arm would always be somewhat soft. If you have specific questions, feel free to reopen it and state them or create a new issue.