Accept small movement when doing a separate task

Is it possible to allow the UR10e to accept some kind of movement when for example doing an other task like applying vacuum.

The reason I am asking is because we are currently using an UR10e to lift lid off our cheese boxes. Sometimes the lids are a bit stuck. It is typically when we lower the tool and apply vacuum. Then the robot is dragged towards the lids (when vacuum cups collapses) and we get the error message on the screen. We would like the robot to accept this small movement towards the lids while applying vacuum.

Any suggestions on how this can be done?

Hi @are.gabriel.hoyland,

Welcome to the UR Forum!

It sound like you could benefit from putting the robot into freedrive or force_mode when you apply the vaccum.

Best regards