System and method for determining tool offsets

A non-transitory computer-readable medium storing instructions that are executable by one or more computing devices, wherein executing the instructions causes the one or more computing devices to perform functions comprising:

• based on a position of a reference object on a robot, causing the robot to move a tool toward the reference object on the robot, wherein the tool is connected to the robot at an attachment point;
• determining that the tool has contacted the reference object on the robot during a first contact event;
• receiving robot position data indicative of a position of the robot when the tool contacts the reference object on the robot during the first contact event;
• determining tool offset data for the tool based on at least the position of the reference object on the robot and the robot position data, wherein the tool offset data for the tool describes a distance between the attachment point and at least one point on the tool;
• and
• subsequently causing the robot to operate the tool based on the determined tool offset data.

A system comprising:

• a processor;
• and
• a memory storing instructions that when executed by the processor cause the system to perform functions comprising:
• based on a position of a reference object on a robot, causing the robot to move a tool toward the reference object on the robot, wherein the tool is connected to the robot at an attachment point;
• determining that the tool has contacted the reference object on the robot during a first contact event;
• receiving robot position data indicative of a position of the robot when the tool contacts the reference object on the robot during the first contact event;
• determining tool offset data for the tool based on at least the position of the reference object on the robot and the robot position data, wherein the tool offset data for the tool describes a distance between the attachment point and at least one point on the tool;
• and
• subsequently causing the robot to operate the tool based on the determined tool offset data.