How to override internal force/torque readings

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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…