How can I adjust the joint parameter so that it can take normal force/torque and both blue and orange axis still align together?
I tired to increase maximum torque as much as possible but it couldn't help.
Here are my joint properties:
IK calculation weight: 1.00
Max. step size: 1.00e+01
Mode: Torque/force mode
Motor enabled: Yes
Maximum torque: 1.0800e+00
Control loop enabled: Yes
Target position: -4.00e+01
Upper velocity limit: 4.2857e+02
Position control (PID): Yes
Proportional parameter: 0.100
Integral parameter: 0.000
Derivative parameter: 0.000