Is there a way to decrease the force needed to move the end effector in UR Caps Path teach mode? I am trying to program a buff of the perimeter of a small plastic part and the force needed to move the end effector causes jumping and overshooting the desired path. Can the force to move the end effector be reduced? The gripper is a Robotiq Hand-E and the part weight is .25 ounces. I am using a printed rubber “teach tool” of .835" diameter x .275" width to simulate the scotch brite buff we will use in application. I am orbiting the “teach tool” with a finished part to establish the path.