Universal Robots Forum

Force_mode with zero wrench

Hello,

I am using the force_mode on the polyscope.
In the BeforeStart sequence I set wrench, i.e. forces/torques to a list of zeros [0,0,0,0,0].
then in my main program I continuously execute the command force_mode() with a loop that keeps updating wrench when i want to move the robot, when not it just sends [0,0,0,0,0] as wrench and [1, 1, 1, 1, 1, 1] as a selction vector (expecting all 6 axes to be compliant).
i expect, with a wrench of 0, that my robot UR10e is easy to move by hand, unfortunately this is not the case. the robot moves as soon as i touch it as if it will fall with great difficulty to hold or control it. and it is difficult to move it by hand. so far we have had no success with this.

Is this an option?

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