Hello, 

I am working on automating the lapping of small machined part by picking up parts and moving them over a flat lapping plate. What is the best way to program the a UR10 with F/T Sensor to move the part flat on a ground surface during a recorded path? Currently, I am using the force (point) template, The feature I selected is a point on the work surface. I have a force down in Z (into the work surface) and Rx and Ry selected with zero force and 1 deg/s velocity. Throughout my path the part will begin to ride up on its edge. Any suggestions to keep the parts flat against the lapping surface?

Thank you in advance,
VInce