UR5e - dynamically off-setting tool weight from the force/torque sensor

[hidalgoem]

Hi, We are working with a UR5e robot and ROS noetic. We have a tool attached to the robot flange. we want to read the contact force applied on the tool, so we were looking to dynamically offset the weight of the tool from the sensor readings. This is to get only the contact force applied on the tool. Are there any ways to do that with ROS by using python?. Does setting center of gravity and tool weight in the teach pendant automatically offset the weight from the force sensor readings?. @fmauch