Name: UFactory xArm
Brand: UFactory
Rating: 5 (1 reviews)

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4. Control

4.1. Control 6 Axis Force Torque Sensor through

Python-SDK

For details on controlling 6 Axis Force Torque Sensor with python-SDK,

please refer to the link below:

https://github.com/xArm-Developer/xArm-Python-SDK/blob/master/ex

ample/wrapper/common/8003-force_control.py

ft_sensor_enable()：enable force torque sensor

ft_sensor_set_zero()：set the current state to the zero point of the force

torque snesor

ft_sensor_app_set() ：set control mode of the force torque sensor

get_ft_sensor_data()：get the data of the force torque sensor

ft_ext_force：get the data after filtering, load and offset compensation

ft_raw_force：get the raw data of the force torque sensor

4.2. Control 6 Axis Force Torque Sensor through C++ SDK

https://github.com/xArm-Developer/xArm-CPLUS-SDK/blob/master/example/

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