SINGULARITY_FORCE_HANDLING

This enumeration defines whether force and compliance control is permitted within singularity regions, and is defined as follows.

Rank	Constant Name	Description
0	SINGULARITY_ERROR	Generates an error when force or compliance control is attempted within a singularity region.
1	SINGULARITY_IGNORE	Ignores singularity-related restrictions and allows force or compliance control to proceed.

Defined in: DRFC.h

typedef enum {
    SINGULARITY_ERROR = 0,
    SINGULARITY_IGNORE = 1,
} SINGULARITY_FORCE_HANDLING;