This may be a bug, or perhaps I need some help. Objective, apply downward force with the gripper, while closing the gripper. This is to ensure the part is fully into the gripper when picked.Current program moves the gripper down to the part usingpalm_touch:=rq_linear _search("z+", 10, 0.025, 0.01)Force MoveL Waypoint_x (relative, shift x and y by 15mm) Gripper Close (1)Force is configured as Feature Tool, Type Frame, with Z as compliant with 40N and 120mm/s (in test mode, this successfully pushes downward as desired)The expectation from the code is that the gripper will push down while doing the MoveL waypoint, and then still push down while the gripper closes. What I am seeing is the gripper pushes down while moving to the waypoint, but then drifting up while the gripper is closing. Why?