Physics asset bodies and contraints

Hey guys, i’m super new to UE5 and programming in general, this is my first project.

I’ve figured out how to make the robot arm move in a way that i’m happy with, but not sure the way i’ve accomplished that will work with the physics that i would like to be applied.

-To me it seems like the constraints in the physics asset are being broken when collision occurs.

-With no bodies set to kinematic, the collision acts as i want it to but then my arm will not move with the given inputs.

-The arm is being moved by using a simply by tying a mouse axis input to a float, that is then fed into a bone translation in an AnimBP.

Any help with the issue, or suggestions as to how i should try and accomplish a similar result with a different approach would very much appreciated!
I’ve attached a relevant video of the issue and images of the blueprints i think are involved.
Thanks in advance!!