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My experience with that plugin tells me that Position interface doesn't work very well with the laws of physics. Imagine if your robot instead of "moving" it makes micro teleports. It ignores the laws of physics. I tried that interface with a robotic arm, the robot moves perfectly but it cannot interact with other objects, even if they have minimum mass and infinite surface friction.

To interact with the world you need an EffortJointInterface for ALL the joints of your robot. The behavior you need (that the arm gives in if it is not actuated), needs to be made with a controller. You need a controller that listens the joints effort and "give in" when it has no actual objectives. I have no idea how you do that. But i believe its possible because i have seen colaborative robots with that kind of behavior, like UR5 for example.

My experience with that plugin tells me that Position interface doesn't work very well with the laws of physics. Imagine if your robot instead of "moving" it makes micro teleports. It ignores the laws of physics. I tried that interface with a robotic arm, the robot moves perfectly but it cannot interact with other objects, even if they have minimum mass and infinite surface friction.friction. With EffortJointInterfaces the arm can grab objects and move it around.

To interact with the world you need an EffortJointInterface for ALL the joints of your robot. The behavior you need (that the arm gives in if it is not actuated), needs to be made with a controller. You need a controller that listens the joints effort and "give in" when it has no actual objectives. I have no idea how you do that. But i believe its possible because i have seen colaborative robots with that kind of behavior, like UR5 for example.