Get FT Raw Wrench
SUMMARY
Get FT Raw Wrench returns the uncompensated force/torque measurement from the wrist F/T sensor as a 6-element wrench vector [Fx, Fy, Fz, Tx, Ty, Tz]. Forces are in Newtons; torques are in Newton-meters. This is the raw reading before payload compensation.
SUPPORTED ROBOTS
This skill is currently supported on Universal Robots only. Calling this method on other robot brands will raise a NotImplementedError.
The Skill
ft_wrench = robot.get_ft_raw_wrench()The Code
Example: Read and Log Raw FT Wrench
Connect to the robot and read the raw force/torque wrench from the wrist sensor.
from loguru import logger
from telekinesis.synapse.robots.manipulators import universal_robots
robot_ip = "192.168.1.2" # replace with your robot's IP
robot = universal_robots.UniversalRobotsUR10E()
# Connect
robot.connect(ip=robot_ip)
ft_wrench = robot.get_ft_raw_wrench()
logger.success(f"Raw FT wrench: {ft_wrench}")
# Disconnect
robot.disconnect()The Explanation of the Code
get_ft_raw_wrench reads the raw F/T sensor output before payload and gravity compensation. Use this value when implementing your own compensation algorithm. For a compensated wrench, use Get Actual TCP Force.
How to Tune the Parameters
This skill takes no input parameters.
Return Value
| Field | Type | Description |
|---|---|---|
ft_wrench | list[float] | Raw wrench [Fx, Fy, Fz, Tx, Ty, Tz]. Forces in N, torques in N·m. |
Where to Use the Skill
- Custom payload compensation algorithms.
- Calibration of F/T sensor offsets.
When Not to Use the Skill
Use a different skill when:
- You need the payload-compensated wrench for force-control applications — use Get Actual TCP Force instead.