Calibrate 6-axis force sensor

Need to see what values we get when the gripper is on, as the weight itself will give readings. Also keep in mind that this differs for three cases:

1. Only gripper
2. Gripper holding a cable
3. Gripper holding a cable with an SFP

Also need to devise a good algorithm/loop/function for how to actually fit:
Need to figure out how to interpret the values given from the 6-axis force sensor and make adjustments accordingly (e.g. if Fy is higher than expected, then we need to send the following MOVE-command to the IRC5) [thus: need to find what the "expected value" is, determine how to react depending on what the actual reading is and how to combine all the different cases (e.g. Fx is 10% higher than expected, and Fy is 20% higher than expected - now what?)
a) SFP into DU
b) Cable into SFP