Stop Force Mode
SUMMARY
Stop Force Mode exits force-control mode and restores normal position-based motion control. Call this after move_in_force_mode has completed or when force-control is no longer needed.
SUPPORTED ROBOTS
This skill is currently supported on Universal Robots only. Calling this method on other robot brands will raise a NotImplementedError.
The Skill
python
robot.stop_force_mode()The Code
Example: Stop an Active Force Mode
python
from loguru import logger
from telekinesis.synapse.robots.manipulators import universal_robots
robot_ip = "192.168.1.2" # replace with your robot's IP
robot = universal_robots.UniversalRobotsUR10E()
# Connect
robot.connect(ip=robot_ip)
robot.stop_force_mode()
logger.success("Force mode stopped.")
# Disconnect
robot.disconnect()The Explanation of the Code
stop_force_mode sends a command to the controller to exit force-control mode. The robot returns to normal stiff position control immediately. If no force mode is active, this call is typically a no-op on most controllers.
How to Tune the Parameters
This skill takes no input parameters.
Return Value
| Return Type | Description |
|---|---|
None | Returns after the force mode stop command is sent. |
Where to Use the Skill
- After completing a Move in Force Mode operation.
- In error handlers to ensure the robot always exits force mode cleanly.
When Not to Use the Skill
Avoid unnecessary calls when force mode was never started:
- If force mode was never started, this call is unnecessary — check the robot's state before calling if overhead matters.