intrinsic.tare_force_torque_sensor

Resets the force-torque sensor bias under the assumption that no forces or torques are applied to the sensor, other than those resulting from the attached tool. The saved bias will subsequently be subtracted from all sensor readings, which means that the sensor readings are 'calibrated' around the setpoint for which the bias was stored. Modelled post-sensor inertia (or configured payload) is not affected by the taring step. Run this Action before calling the CartesianAdmittanceAction or other compliance control Actions that involve a force-torque sensor.

This action does not have streaming inputs, streaming output or real-time signals.

Fixed Parameters

Message Type: intrinsic_proto.icon.actions.proto.TareForceTorqueSensorParams

State Variables

intrinsic.is_done (bool)

Builtin state variable that tells whether an action has completed