Robo's - it is much easier when the car is on a hoist as the problem you're having is the swaybars trying to keep the wheels flat.
Remember that one wheel (the one not jacked up) is causing torsion in the sway bar and trying to lift the jacked up wheel to minimise roll...
When the car is on a hoist, both wheels sag at the same height, no torsion effect on swaybars, therefore arms hang at their fully extended natural sag
...at least that's what I thought, and considering that I've taken my suspension out and replaced it a number of times that's what I've experienced