Hello, I have a UR5 robot with a CB3 controller and a FT300 Robotiq sensor. I want to program the robot to follow a certain path in Force mode and I learned in the manual that it can be done with Robotiq Path option in URCaps. It also says that Force mode is not compatible with MoveJ commands. Also, if I understood right, the only way to program a Robotiq Path is to manually move the robot and record that path? What I want to do is send joint space coordinates via a PC and use MoveJ to move robot along that desired trajectory while also controlling the tool forces in Force mode. Is there any way this can be done?