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Ur force mode does not work near singularities. Of you have robotiq copilot urcap, you could try to use our force node. It should not be affected by singularities.
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If you have questions about Robotiq products please reach our support team.
Dear UR Team,
I am working in a project in which I need to access a robot variable which is "robotDexterity" in section 3.2: Primary and Secondary Client Interface in the attached Excel sheet under the force package. The problem I am facing is the popup "force mode not possible in Singularity" and I would like to trigger this variable in order to act in real time. After research and trying some available codes, I couldn't find a solution for that. Do you have any idea or sample code (Urscript, Python, ..) to achieve this? Thank you very much in advance!
Regards,
-Lisa