# Valid pose in force mode

**URL:** <https://forum.universal-robots.com/t/valid-pose-in-force-mode/262>\
**Category:** URScript\
**Created:** [September 28, 2016, 3:49pm UTC](https://forum.universal-robots.com/t/valid-pose-in-force-mode/262 "2016-09-28T15:49:48Z")\
**Posts on this page:** 5\
**Page:** 1

<div class="post-metadata">

**Author:** ![nicolas1](https://avatars.discourse-cdn.com/v4/letter/n/b5ac83/32.png) [@nicolas1](https://forum.universal-robots.com/u/nicolas1)\
**Post date:** [September 28, 2016, 3:49pm UTC](https://forum.universal-robots.com/t/valid-pose-in-force-mode/262/1 "2016-09-28T15:49:48Z")

</div>

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!

---

<div class="post-metadata">

**Author:** ![jbm](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/jbm/32/614_2.png) [@jbm](https://forum.universal-robots.com/u/jbm)\
**Post date:** [October 5, 2016, 1:56pm UTC](https://forum.universal-robots.com/t/valid-pose-in-force-mode/262/2 "2016-10-05T13:56:54Z")

</div>

@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.

---

<div class="post-metadata">

**Author:** ![nicolas1](https://avatars.discourse-cdn.com/v4/letter/n/b5ac83/32.png) [@nicolas1](https://forum.universal-robots.com/u/nicolas1)\
**Post date:** [October 5, 2016, 2:14pm UTC](https://forum.universal-robots.com/t/valid-pose-in-force-mode/262/3 "2016-10-05T14:14:02Z")

</div>

Great! I will post it in the proper category.

Thanks.

---

<div class="post-metadata">

**Author:** ![dingyanwei](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/dingyanwei/32/2795_2.png) [@dingyanwei](https://forum.universal-robots.com/u/dingyanwei)\
**Post date:** [October 26, 2021, 2:04am UTC](https://forum.universal-robots.com/t/valid-pose-in-force-mode/262/4 "2021-10-26T02:04:56Z")

</div>

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

---

<div class="post-metadata">

**Author:** ![ajp](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/ajp/32/471_2.png) [@ajp](https://forum.universal-robots.com/u/ajp)\
**Post date:** [October 26, 2021, 12:33pm UTC](https://forum.universal-robots.com/t/valid-pose-in-force-mode/262/5 "2021-10-26T12:33:23Z")

</div>

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