We were trying to do some work today with the FT150, both teaching a path as well as just moving it around to various waypoints. We kept getting an error though about the robot cannot operate in force mode when in a singularity. As far as we could tell the robot was not in any type of singularity. Is there a range of motion that the force mode does not operate within? Here is an example of one of the positions that we were in when we received the error.