During skill training or while recording an episode you may experience and issue where MIRAI moves against you or resists in the opposite direction. This issue can happen if the force Torque sensor is not installed correctly.
Make sure that the sensor has been mounted correctly. For example, the connector for the FT sensor is located 180° offset from the UR sensor connector, as shown in the picture.
Refer to the printed symbols along the outside of the sensor, (e.g. +Y, -X). These must match/line-up with the robot flange.
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