move_until_contact.cpp

#include <ur_rtde/rtde_control_interface.h>
using namespace ur_rtde;

int main(int argc, char* argv[])
{
  RTDEControlInterface rtde_control("127.0.0.1");

  // Parameters
  std::vector<double> speed = {0, 0, -0.100, 0, 0, 0};
  rtde_control.moveUntilContact(speed);
  rtde_control.stopScript();
  return 0;
}