Admittance Control Does not Work in Servo Mode?

[kumarhans]

Is there any way to use Admittance Control in servo mode? I need to send commands to the arms at high frequency (>= 30 hz), and I find that position mode cannot achieve this. Servo mode looks much smoother, but it seems to ignore my admittance control parameters?

[penglongxiang]

Hi, what is the firmware version of your xarm? Or is there any error code reported? Most importantly, could you share the snippet of code that will reproduce the command failure issue?