# Ft\_raw\_wrench in UR RTDE

**URL:** <https://forum.universal-robots.com/t/ft-raw-wrench-in-ur-rtde/27774>\
**Category:** Robot Communication\
**Created:** [April 4, 2023, 12:29pm UTC](https://forum.universal-robots.com/t/ft-raw-wrench-in-ur-rtde/27774 "2023-04-04T12:29:11Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![anon76029739](https://avatars.discourse-cdn.com/v4/letter/a/6a8cbe/32.png) [@anon76029739](https://forum.universal-robots.com/u/anon76029739)\
**Post date:** [April 4, 2023, 12:29pm UTC](https://forum.universal-robots.com/t/ft-raw-wrench-in-ur-rtde/27774/1 "2023-04-04T12:29:11Z")

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Is the ft\_raw\_wrench 6dvector in RTDE just the torques in all the joints? What are the units?

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**Author:** ![511603289](https://avatars.discourse-cdn.com/v4/letter/5/e95f7d/32.png) [@511603289](https://forum.universal-robots.com/u/511603289)\
**Post date:** [July 1, 2025, 8:13am UTC](https://forum.universal-robots.com/t/ft-raw-wrench-in-ur-rtde/27774/2 "2025-07-01T08:13:15Z")

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hello,did you get the answer? I have the same quesion. I want to get raw force data to compensate.