Relaxation is the rate at which velocity errors are corrected. This can be seen as the strength of the limits. A low value will make the the limits more spongy. BiasFactor is the magnitude of the position correction. It tells you how strictly the position error (drift ) is corrected. Softness is the factor at which the velocity error correction starts operating,i.e a softness of 0.9 means that the vel. corr starts at 90% of the limit range. What this means in practice is that if you’re above the softness, velocities that would shoot through the actual limit are slowed down. The bias be in the range of 0.2 - 0.5.