# Get raw wrench force-torque sensor data from a UR5 using the RTDE interface **URL:** \ **Category:** General Application Help: How do I?\ **Created:** [May 31, 2022, 2:04pm UTC](https://forum.universal-robots.com/t/get-raw-wrench-force-torque-sensor-data-from-a-ur5-using-the-rtde-interface/21655 "2022-05-31T14:04:43Z")\ **Posts on this page:** 2\ **Page:** 1
**Author:** ![anon63743231](https://avatars.discourse-cdn.com/v4/letter/a/df705f/32.png) [@anon63743231](https://forum.universal-robots.com/u/anon63743231)\ **Post date:** [May 31, 2022, 2:04pm UTC](https://forum.universal-robots.com/t/get-raw-wrench-force-torque-sensor-data-from-a-ur5-using-the-rtde-interface/21655/1 "2022-05-31T14:04:43Z")
Hi everyone, currently, we try to use a Robotiq force-torque sensor mounted on a UR5. We use the [ur\_rtde](https://gitlab.com/sdurobotics/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, Antonia ---
**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, 8:48am UTC](https://forum.universal-robots.com/t/get-raw-wrench-force-torque-sensor-data-from-a-ur5-using-the-rtde-interface/21655/2 "2025-07-01T08:48:50Z")
hello,did you get the answer? I have a quesion. I want to get raw force data to compensate and get the zero point.Did you get correct data and why the data is so big?