# V-REP-Simulation-Projects

**Repository Path**: gileyang/V-REP-Simulation-Projects

## Basic Information

- **Project Name**: V-REP-Simulation-Projects
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 1
- **Created**: 2020-08-10
- **Last Updated**: 2021-08-23

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# V-REP-Simulation-Projects
Learning Robotics by Playing with V-REP

## The right way to use force sensor in V-REP （4 steps totally, the step 3 is crucial to guarantee the validity of force/torque data）
### 1. get force sensor handle  
`[res,forcesensor] = vrep.simxGetObjectHandle(id,'Force_sensor',vrep.simx_opmode_oneshot_wait);`
### 2. data streaming  
`vrep.simxReadForceSensor(id,forcesensor,vrep.simx_opmode_streaming);`
### 3. read the first available data  
```
while (1)  
   [res,state,f,tau] = vrep.simxReadForceSensor(id,forcesensor,vrep.simx_opmode_buffer);
   if res == vrep.simx_return_ok && state == 1
      break;
   else
      disp('force sensor data is not available!');
      pause(0.1);
   end
end
```
### 4. read force data periodically in control loop  
```
while vrep.simxGetConnectionId(id)~=-1
   [res,state,f,tau] = vrep.simxReadForceSensor(id,forcesensor,vrep.simx_opmode_buffer);
end
```