Cartesian Complicane Controller Drift in UR5e

[neuraljiaang]

Problem description

The cartesian force controller and motion controller both work great with a payload attached onto the end effector.
However, once the cartesian compliance controller is online, the robot arm drifts(very fast) at the beginning and starts shaking heavily if it cannot proceed forward.

Software versions

ROS2 with Humble with latest release

To Reproduce

I am using the default setting for the compliance controller.
Once the controller is online it starts to drift swiftly.

Expected behavior

Would expect the robot arm to maintain steadstate at beginning without any wrench value being published in compliance controller

Additional context

The payload is already balanced with UR5e tech pendant so I assume the gravity should be mostly compensated.