Problems with the accuracy of the desired force mode

[demirarikan]

Hello,
I have done some tests on the accuracy of the desired force mode. I have installed an external force sensor on the robots flange and compared the desired force values that I set using the code with the values measured by the force sensor. I have attached the results below. But in general the force mode performs sub par for lower force values. It was almost never able to apply less than 5 newtons of force even though the desired force value was set to 1 N.
The accuracy of higher force values was better when the stiffness was lower and lower force values were more accurate with higher stiffness values.
Does anyone know the reason for the inaccuracies of the force mode? Is there any way I can increase the accuracy especially in lower forces (but in general as well). I am using set_force_mode function in this file to set the force mode: setup_control_mode (copy).txt