I am searching for examples for how to use the FORCE instruction correctly. The goal is to have the UR10 arm be compliant in all axis, X,Y,Z when the gripper is closing on the object to be picked up.Using the Cam Locate function with the wrist camera. The part is a dark gray grinding wheel stacked in 4x3x8 array. The location is not always exact, but close enough for the robot to move and pickup a wheel. Sometimes, because it is slightly off center X,Y, or too high Z, the wheel is moved by the gripper fingers as they close. I want to use the force function set to a very low N in order to have the arm move if any force is detected. I think that will help ensure the wheel is properly centered so it will be easier to place on a spindle after it is picked up.