Universal Robots Forum

Script function to verify if a pose is valid in force mode

I would like to request a script function to verify if a pose is valid in force mode.

The use case is that our hand guiding mode (Active Drive) is running in force mode and we would like to avoid poses which creates a popup stating “Force mode not possible in singularity”. This can be quite annoying/confusing for our customers.



Thank you for the feature request, @nicolas1

Note: Other users that find the feature request relevant to themselves might “like” the post or provide their own alternate use case below.

Hello, there is still no feature to know if a position will be reachable in force mode.
Could you give us the precise metric use to calculate your dexterity index so we could prevent our guidance system (ActiveDrive) from going in singularity and generating errors. There is planty of dexterity index and we still not find the one you are using…