Initialize the FT Sensor¶

How to Initialize the FT Sensor¶

The ft_zeroset tool allows you to check the FT sensor status and perform initialization if supported by the connected sensor firmware.

Downloads (FT zeroset)¶

ft_initialization: Download

Warning

Ensure that the robot’s main power is turned on before proceeding.

Usage (FT zeroset)¶

# Install required package
sudo apt-get install sshpass


# For ARM-based systems
chmod +x ./ft_zeroset
./ft_zeroset <RPC_ADDRESS>
## ARM-based systems Example
./ft_zeroset_jetson 192.168.30.1


# For x86_64 systems
chmod +x ./ft_zeroset_x86
./ft_zeroset_x86 <RPC_ADDRESS>
## For x86_64 systems Example
./ft_zeroset_x86 192.168.0.121

Result Guide (FT zerosetn)¶

Success Case (FT zeroset)¶

=== Step 0: Power Check ===
[OK] 48V power is already on. It will be left on after exit.

=== Step 1: Firmware Version Check ===

=== Step 2: FT Sensor Bias Initialization ===

=== Result ===
[NEW] right arm (can0): zero set succeeded.
[NEW] left arm (can1): zero set succeeded.

Failure Cases (FT zeroset)¶

=== Step 0: Power Check ===
[OK] 48V power is already on. It will be left on after exit.

=== Step 1: Firmware Version Check ===

=== Result ===
[LEGACY] right arm (can0): zero set not supported version.
[LEGACY] left arm (can1): zero set not supported version.

FAIL → Older version. Bias initialization is not supported.

If FAIL is displayed, please save the terminal output and contact our CS team(rby.support@rainbow-robotics.com). In this case, an FT sensor firmware update may be required.