# Universal_Robots_ROS2_Driver: force mode

Official Universal_Robots_ROS2_Driver python main example for force mode. Inspect the pinned source and upstream setup before use.

ID: `universal-robots-ros2-driver-ur-robot-driver-examples-force-mode-py`

Record version: `source-54e657b4e6ffdc3772fdbafc7989bf8ee213f8ab217572eaae10eeb5e98469db`

Hub commit: `f97266a5cdd2c600cd376397a54892f08290df20`

## Access

Fetch the pinned repository, verify this source checksum, and use upstream installation and invocation. This record does not install or execute code.

Optional inert file retrieval: `python /PATH_TO_SKILL/scripts/rsh.py fetch-source universal-robots-ros2-driver-ur-robot-driver-examples-force-mode-py --expected-source-revision 43f2f3a1a1b7481a0e2bd6af5973403dc8ddb11b --expected-source-sha256 54e657b4e6ffdc3772fdbafc7989bf8ee213f8ab217572eaae10eeb5e98469db --project ./experiment --json`. This verifies one file, preserves provenance and never installs or runs it. See [source-file retrieval](https://hub.superfastrobotics.com/source-files.md).

Hub preparation adapter: **false**. Runtime verification: **not_run**.

Upstream setup: https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/blob/43f2f3a1a1b7481a0e2bd6af5973403dc8ddb11b/README.md

## Source and license

- Repository: https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver
- Pinned source: https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/blob/43f2f3a1a1b7481a0e2bd6af5973403dc8ddb11b/ur_robot_driver/examples/force_mode.py
- Revision: `43f2f3a1a1b7481a0e2bd6af5973403dc8ddb11b`
- Path: `ur_robot_driver/examples/force_mode.py`
- Source SHA256: `54e657b4e6ffdc3772fdbafc7989bf8ee213f8ab217572eaae10eeb5e98469db`
- Source bytes: 9160
- Original authors: See pinned upstream source and license notices.
- License: [BSD-3-Clause](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/blob/43f2f3a1a1b7481a0e2bd6af5973403dc8ddb11b/LICENSE)
- License scope: Repository-root code terms only; file headers, third-party code, models, weights, assets and datasets require separate review.

License SHA256: `143077f9f6a8de5a99f78c2c2472801fb53cf240277ef661642f079b9acdfff8`

## Requirements

```json
{
  "python": "Inspect the pinned upstream package metadata for the supported Python version.",
  "packages": [],
  "display": "Upstream simulator, robot model, build, display and device requirements; inspect the selected source.",
  "execution_domain": "simulation-or-hardware",
  "source_imports": [
    "builtin_interfaces.msg",
    "controller_manager_msgs.srv",
    "examples",
    "geometry_msgs.msg",
    "rclpy",
    "rclpy.callback_groups",
    "rclpy.executors",
    "rclpy.node",
    "std_srvs.srv",
    "sys",
    "tf2_geometry_msgs",
    "tf2_ros",
    "tf2_ros.buffer",
    "tf2_ros.transform_listener",
    "time",
    "ur_msgs.srv",
    "visualization_msgs.msg"
  ]
}
```

## Invocation

```json
{
  "entrypoint": "python ur_robot_driver/examples/force_mode.py",
  "notes": "Source reference only. Install the pinned upstream project and its stated dependencies explicitly. Robot bridges may actuate hardware; no hardware execution is established. Asset, model, SDK and data terms remain separate."
}
```

## Compatibility

```json
[]
```

Missing environment fields remain unknown. Source discovery labels do not establish robot compatibility.

## Evidence

Level: **source_reviewed**. Runtime verification: **not_run**.

Fetched and SHA-256 checked this immutable source; statically parsed Python or located native main; verified pinned license bytes and checked explicit per-file license identifiers. No upstream code executed.

Source review and contributor reports do not establish task completion. Preserve upstream attribution and licenses.