[Apex]

I note from reading the UR5 manual that the robot script supports force mode. Specifically, "force mode supports applying certain torques around predefined axes". This, along with the other functionality of force mode, would be very useful to be able to access via the RoboDK Python API. I realise that from a simulation-only perspective you would be unable to model the external torque being applied by the work-piece etc, but it would still be really useful to be able to access this functionality when running code in both simulation and the real-world

[Albert]

You can create the right triggers by using a custom program call.

Also, you can customize the post processor to do this automatically.