Hi I have a UR5 robot with a FT300 sensor. I have a custom made gripper mounted as well. The gripper is holding a marker and my goal is for the robot to draw a certain contour with that marker on a piece of paper on a table. I also need to control the force with which the marker acts upon the table and it should be around 10N. What I'd like to know is what the most efficient way to do this would be. I thought about recording a Robotiq Path in URCaps that would follow the contour and also use that path with Force mode to control the force in z-axis at 10N. I'm not sure if it can be done this way or if I should do it with Path Generator and Tool Control or if maybe there's another option. So can it be done the way I imagined, and also is there another, more efficient way?