How to override internal force/torque readings

[fpg]

I’m trying to integrate external F/T sensor with UR10 robot. I know I need to first call “enable_external_ft_sensor”, but I can’t find anywhere documentation about overriding the actual force readings via RTDE. How can this be achieved? Is there any doc describing it?

[jbm]

Is below the topic you are looking for?

External force-torque sensor implementation

This is a guide on how to integrate an external Force/Torque sensor with the robot controller, e.g. by developing a URCap. From SW 3.3 and newer it is possible to feed external force/torque measurements into the robot controller, and use this input as an alternative to the internal measurements in e.g. force mode. The feature is enabled and disabled with a special script command and the force/torque measurements can be streamed into the robot controller using the RTDE interface as described be…

[fpg]

This looks exaclty what I’m looking at, but surprisingly the RTDE referenced there (external_force_torque) is not listed in the linked documentation (https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/real-time-data-exchange-rtde-guide-22229/). Is it expected, or did I miss something?

[jbm]

It is expected.
This is because this is a special field, that is only relevant for implementing an external FT sensor.
Why the linked topic covers how to do this, and what field name should be used.