# Rtde‘s ft\_raw\_wrench

**URL:** <https://forum.universal-robots.com/t/rtde-s-ft-raw-wrench/28057>\
**Category:** Technical Questions\
**Created:** [April 21, 2023, 1:19am UTC](https://forum.universal-robots.com/t/rtde-s-ft-raw-wrench/28057 "2023-04-21T01:19:54Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![wubaojian0504](https://avatars.discourse-cdn.com/v4/letter/w/aca169/32.png) [@wubaojian0504](https://forum.universal-robots.com/u/wubaojian0504)\
**Post date:** [April 21, 2023, 1:19am UTC](https://forum.universal-robots.com/t/rtde-s-ft-raw-wrench/28057/1 "2023-04-21T01:19:54Z")

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I read the ft\_raw\_wrench variable in the rtde communication of the UR robot, I want to calibrate the zero point and filter it , and then send it to the robot through the external\_force\_torque variable, but I find that the value of ft\_raw\_wrench is large and unstable when no-load(especially when it is restarted), so how can I calibrate the zero point of the sensor?

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**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, 8:15am UTC](https://forum.universal-robots.com/t/rtde-s-ft-raw-wrench/28057/2 "2025-07-01T08:15:14Z")

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hello,did you get the answer? I have the same question.I want to get the raw data to get zero point and compensate.