Record data using RTDE

Hi there,

i’m a beginner in UR and i have a UR10/CB3 Robot with Robotiq FT-300 Sensor and 2f-140 Gripper. I want to record data using RTDE. Thanks to the nice documents from RTDE-Guide (Real-Time Data Exchange (RTDE) Guide - 22229) , i can easily record the robot output data using the example code My question is, is it able to also record the sensor data through RTDE? And i saw a robot input in the guide named “external_force_torque”, is this something which represents the external force torque sensor?

Thanks in advance!