Valid pose in force mode

Technical Questions URScript
1

Is there a way to validate that a pose in attainable 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.

If there is no built-in function possible, would it be possible to disclose the exact metric used to trig this error? We assume that it is a dexterity metric with a given threshold, but we have not been successful at identifying it ourselves.

Thanks!

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2

@nicolas1
A such (script) function is not currently possible (SW 3.3.2).
However you could consider to create a feature request for this to be enabled.

3

Great! I will post it in the proper category.

Thanks.

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4

So，what’s the final solution for that now?
Thanks all!

5

There is a variable available on the primary client interface datastream (port 30001) called robotDexterity that will help with this:

UR3 are consider in singularity if dexterity < 0.00002
UR5 and UR10 are consider in singularity if dexterity < 0.001

https://www.universal-robots.com/articles/ur/remote-control-via-tcpip/