Hey, I am trying to hand guide the UR5 robot in free-drive to follow a path. While doing so, I realized there was some rigidity in the movement of joints in free-drive, i.e. it was not as free as moving our own hand while writing or as when the robot while following a path planned through way points in teach-pendant.

I tried changing some factors like momentum, joint speed in safety limits in teach pendant, which reduced the stiffness to some extent.

Can someone give some insight into how I can go about doing this?