This is an example of the above force_mode() function

Example command: force_mode(p[0.1,0,0,0,0.785], [1,0,0,0,0,0], [20,0,40,0,0,0], 2, [.2,.1,.1,.785,.785,1.57])

Example Parameters:

• Task frame = p[0.1,0,0,0,0.785] ! This frame is offset from the base frame 100 mm in the x direction and rotated 45 degrees
• in the rz direction
• Selection Vector = [1,0,0,0,0,0] ! The robot is compliant in the x direction of the Task frame above.
• Wrench = [20,0,40,0,0,0] ! The robot apples 20N in the x direction. It also accounts for a 40N external force in the z direction.
• Type = 2 ! The force frame is not transformed.
• Limits = [.1,.1,.1,.785,.785,1.57] ! max x velocity is 100 mm/s, max y deviation is 100 mm, max z deviation is 100 mm, max rx deviation is 45 deg, max ry deviation is 45 deg, max rz deviation is 90 deg.