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Toby

@louis_bergeron Thank you, this works well.

I use python-urx:
https://github.com/SintefRaufossManufacturing/python-urx for the connection, and use this python code to reset the FT300:

def reset_FT300(rob, wait=True): 
    prg = '''def prog():
    if(socket_open("127.0.0.1",63350,"acc")):
        socket_send_string("SET ZRO","acc")
        sleep(0.1)
        socket_close("acc")
    end
end
'''
    programString = prg
    rob.send_program(programString)
    time.sleep(0.25)
Afterwards, I can take into account the location of my weight by taking my mass vector: [0, 0, -9.81*mass] and rotating it into tool-frame, and then subtracting from my force readings.