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Awesome questions, I appreciate the curiosity.

We're using the stock force control software and plan to tweak it soon. I couldn't tell you how it works under the hood.

We use mannequin to test and then, other body parts [0]. Long term, we want to invest in a better testing harness. Open to ideas on how to do that.

[0] - https://twitter.com/manishsinhaha/status/1202078849619513345

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UR website[0] seems to suggest +- 10N (a kilo resting on your neck) with their stock implementation. I imagine you're going to want something better than that.

What Force/Torque sensor do you use? Some of them are temperature sensitive and require a good warm-up period before they can be used to achieve good performance.

[0]https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-...

Not OP but I've written custom force control code for a UR5e. There's a six axis force sensor on the end effector for the e model which has a pretty noisy raw output. After some filtering we were able to get a pretty sensitive controller. I didn't measure it, but far less than 10N.

Sweet, thanks for sharing your experience!

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