{
  "id": "universal-robots-ros2-driver-ur-robot-driver-examples-force-mode-py",
  "name": "Universal_Robots_ROS2_Driver: force mode",
  "summary": "Official Universal_Robots_ROS2_Driver python main example for force mode. Inspect the pinned source and upstream setup before use.",
  "framework": "universal-robots-ros2-driver",
  "kind": "official_example",
  "source_registry": "ecosystem-examples-v1",
  "capabilities": [
    "real-robot"
  ],
  "robot_types": [
    "source-defined"
  ],
  "robot_scope": "Discovery labels inferred from this source path; inspect its robot configuration for compatibility. Project-wide categories are not a supported-robot list.",
  "source": {
    "repository": "https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver",
    "commit": "43f2f3a1a1b7481a0e2bd6af5973403dc8ddb11b",
    "tag": "reviewed-2026-10-20",
    "path": "ur_robot_driver/examples/force_mode.py",
    "url": "https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/blob/43f2f3a1a1b7481a0e2bd6af5973403dc8ddb11b/ur_robot_driver/examples/force_mode.py",
    "raw_url": "https://raw.githubusercontent.com/UniversalRobots/Universal_Robots_ROS2_Driver/43f2f3a1a1b7481a0e2bd6af5973403dc8ddb11b/ur_robot_driver/examples/force_mode.py",
    "sha256": "54e657b4e6ffdc3772fdbafc7989bf8ee213f8ab217572eaae10eeb5e98469db",
    "bytes": 9160
  },
  "license": {
    "spdx": "BSD-3-Clause",
    "url": "https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/blob/43f2f3a1a1b7481a0e2bd6af5973403dc8ddb11b/LICENSE",
    "sha256": "143077f9f6a8de5a99f78c2c2472801fb53cf240277ef661642f079b9acdfff8",
    "scope": "Repository-root code terms only; file headers, third-party code, models, weights, assets and datasets require separate review."
  },
  "access": {
    "mode": "source_reference",
    "hub_prepare": false,
    "instructions": "Fetch the pinned repository, verify this source checksum, and use upstream installation and invocation. This record does not install or execute code.",
    "setup_url": "https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/blob/43f2f3a1a1b7481a0e2bd6af5973403dc8ddb11b/README.md"
  },
  "requirements": {
    "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": {
    "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."
  },
  "popularity": {
    "metric": "github_stars",
    "repository_stars": 838,
    "checked_at": "2026-10-20",
    "meaning": "Dated repository interest, not robot-skill usage, compatibility or runtime success."
  },
  "evidence": {
    "level": "source_reviewed",
    "runtime_verification": "not_run",
    "checked_at": "2026-10-20",
    "inspection": "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.",
    "entrypoint_kind": "python_main",
    "inspection_method": "automated_static"
  }
}