Minimum sample code to read from a DynPick 6-axis force sensor.

readDynPick.py

# coding: utf-8
import serial
import time

def calibration(s):
	s.write(str.encode('p'))
	time.sleep(0.1)
	reply = s.read(100).decode("shift_jis")
	s_calib = reply.split(",")
	return [float(s) for s in s_calib]

def main():
	ser = serial.Serial("COM8", 921600, timeout=0)

	calib = calibration(ser)
	print(calib)

	ser.write(str.encode('0'))
	time.sleep(0.1)

	for i in range(200):
		ser.write(str.encode('R'))
		time.sleep(0.1)
		line = ser.read(100)
		force = [(int(line[i * 4 + 1:i * 4 + 5], 16) - 8192)/calib[i] for i in range(6)]
		print(force)

if __name__ == '__main__':
	main()