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Hi @aluu

Could you please share a picture of your force control setup? 

Did you try to use a lower stiffness to see if it changes the behavior?

Hi @David_Gariepy

I have attached a screenshot of the setup. zoom

I have tried it with 50 and 0% stiffness, but it hasn't changed the behaviour. The force control is under a find surface node which is set to a force threshold of 1.5N as well in the Z+ direction and this works fine. 

I am also wondering, when I define the multipoint path, should the waypoints already be on the surface?