Get raw wrench force-torque sensor data from a UR5 using the RTDE interface

Hi everyone,

currently, we try to use a Robotiq force-torque sensor mounted on a UR5. We use the ur_rtde library to control the arm and a gripper remotely. Using the getRawWrench() function, we tried to get the current force-torque measurements from the sensor but we only received a zero vector. The ur_rtde team told us that the RTDE interface does not provide force-torque data for the CB3 series. Is that correct? If yes, then how could we receive force-torque data remotely with this setup? Or would it be possible to add this feature to also support the CB3 series?

Suggestions are highly appreciated.

Best regards,