> ## Documentation Index
> Fetch the complete documentation index at: https://docs.generalrobotics.dev/llms.txt
> Use this file to discover all available pages before exploring further.

# ForceThresholdExceeded

> A force-aware move stopped because contact force crossed its threshold

```python theme={null}
from grid_types import ForceThresholdExceeded
```

A force-aware move stopped because contact force crossed its threshold.

Raised by drivers when a move issued with force avoidance (e.g.
`moveToPose(..., avoid_force=True)`) trips the configured force/torque
limit. Distinct from a timeout or a command failure so that callers for
whom contact is *expected* — a descent onto a surface — can catch exactly
this and let every other failure propagate.

Subclasses `RuntimeError`: existing broad handlers keep working.


## Related topics

- [Customizing RL Training](/simulation/isaac/reinforcement-learning/customizing-training.md)
- [MDP Config](/simulation/isaac/session_configuration/mdp.md)
- [owlv2](/models/cortex/owlv2.md)
- [ROS2 Communication](/simulation/isaac/comms.md)