Q1. Two different ForceControl modes, what’re differences between them ?

The "Constant force control" guarantees a consistent force (e.g., -80N) in the specified direction at all times. Conversely, the "Compliance control" mode prioritizes flexibility during movement. For instance, when encountering a bump between points A and B, the "Compliance control" mode adeptly follows the curve compared to the "Constant force control" mode.

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